A series of unmanned surface vessels for surf-zone bathymetric surveys have been developed. Improvements to the original design, based on an off-the-shelf scaled offshore racing hull, include optimization for efficiency and control in various environments, including those with floating debris. Upgraded data acquisition and transmission systems allow real-time transmission of survey data to assess quality and change survey plans. Algorithms have been developed to evaluate the accuracy of gridded surfaces based on the track-line spacing and surface fitting parameters. Future directions include refined simulation procedures to enhance vehicle control in energetic wave conditions.