The potential of using autonomous underwater vehicle (AUV) for underwater exploration and oceanographic research is confined by its limited battery energy. One constructive method to solve this problem is proposed by docking to realize underwater recharging and data communication. A docking system for appropriate AUV provides the resolution to enhance the duration and extent of AUV applications. Docking system also increase the efficiency and safety for AUV recovery. In this paper a comprehensive docking system is proposed, including a seafloor docking station and a heavy AUV. The surface support station and the seafloor station were connected by undersea cable. Due to the low visibility environment, the docking strategy was modified, the AUV only equipped ultrashort baseline (USBL) system as docking sensor. The optical guidance function has been tested in lake experiment. With improved ocean current self-adaptive docking algorithm, the AUV succeeded in docking to the seafloor docking station under ocean current disturbances in coastal waters.