 As maritime autonomy is introduced to perform increasingly complex missions, there is a prevailing need to autonomously determine complex event sequences and task schedules, as well as visualizing those vehicle actions before a mission. The Naval Surface Warfare Center, Panama City Division (NSWC PCD) has developed interfaces between MOOS-IvP to aid with both areas. We present a software framework to interface the commercial off-the-shelf optimization software OPL/CPLEX with MOOS-IvP. IBM's OPL/CPLEX is one of the world�s fastest optimization software packages for solving numerical optimization problems such as mixed-integer linear programming, quadratic programming, and scheduling. The OPL-MOOS interface will allow unmanned systems controlled by the MOOS-IvP autonomy framework to utilize numerical optimization routines found in OPL/CPLEX for autonomous plan optimization and scheduling. For mission visualization, we present an overview of a novel three-dimensional mission visualization software package developed by NSWC PCD, and its interface with MOOS-IvP using Google protocol buffers. We believe the two interfaces and software packages allow for extending the possible mission profiles and tasking with which MOOS-IvP can be used. Restore June 00, 0000, at 00:00 AM by 000.0.0.0 - Restore June 00, 0000, at 00:00 AM by 000.0.0.0 - Changed line 0 from: !!!! %color=#0000BB% [[Talk.00-Anderson | Prev-Talk]]%% | \ to: !!!! %color=#0000BB% [[Talk.00-Sideleau | Prev-Talk]]%% | \ Changed lines 00-00 from: !! Talk-00: ''Cross-Domain UxV Collaboration Scenario Development with MOOS-IvP'' !!!!%color=#000000% '''Lonnie Parker, Christopher Gagner, Scott Sideleau, Michael Incze, NUWC-DIVNPT''' The future of cross-domain autonomy (any combination of air, land, and sea platforms) will reside in providing value to time-sensitive applications. Those scenarios in which important information is collected by one platform, but requires exfiltration by another has uses in search-rescue missions, port-monitoring, and oceanographic surveys, to name a few. Any behaviors executed must be confined to achievable goals while also demonstrating flexibility to account for unplanned changes in situ. This work reports on the design and implementation of a multi-vehicle, cross-domain AUV scenario responsible for executing a combination of waypoint-based and advanced autonomy behaviors in response to direct commands from an unmanned aerial vehicle, via AUV gateway. The behaviors have been abstracted as contour-following and multi-scale bathymetry surveys, incorporating conditional pauses based on the state of shipping traffic detected by Automatic Identification System. The simulation created was designed to be vehicle agnostic to make allowances for unexpected system state changes. 