This paper proposed the use of Autonomous Underwater Vehicles (AUVs) for lake observation. The performance of the proposed system is demonstrated at the lake Biwa in Japan using the test-bed AUV the "Twin-Burger 2" available at the University of Tokyo. The proposed AUV system is capable of moving autonomously to predetermined locations carrying different kinds of sensing equipment for lake survey and sensors for navigation. In this system, the predetermined path of the AUV is marked by laying an underwater cable. At the lake Biwa the Twin-Burger 2 successfully followed the cable while collecting information on the environment. In situations where the cable was lost from the image a search algorithm was activated and if not recovered the vehicle will come to the surface.