Georeferenced, high-resolution imagery of the seafloor is essential for environmental monitoring and ecological studies at depths and spatial extent exceeding the capacity of human divers to collect, yet current technologies for broad scale benthic survey, such as conventional AUVs or towed video systems, lack the agility to operate in close range to complex seafloor structure, often yielding low-quality imagery. Moreover, conventional approaches to seafloor survey rely on an attendant support vessel, which drives up cost and limits scalability to the vast areas that require monitoring. To address these challenges, we have developed a low-cost, hover-capable AUV designed to capture high-quality, georeferenced imagery of both the seafloor and underwater infrastructure. Featuring 5 degrees-of-freedom actuation, the vehicle offers maneuverability comparable to an ROV, while its streamlined design enables endurance similar to conventional AUVs. By integrating attendant smart buoys and small autonomous surface vessels to monitor the AUVs progress, our approach enables multiple concurrent AUV surveys, effectively decoupling operations from the constraints of the support vessels and significantly increasing marine survey output while maintaining a high level of safety with human oversight. We demonstrate the effectiveness of this system through deployments that document mesophotic coral reefs in Tonga and temperate reefs in Victoria.