In this paper, we present an approach to test underwater robots with a mission perspective. We propose five classes of oracle mission properties, used to perform test verification and evaluation: mission phases, time, energy, safety and localization. We study how these properties can be used, using data from the generated logs and analyzing the set of measurements. We apply this methodology on our semi-AUV prototype which executes autonomously biologic observation protocols in the Mayotte lagoon. For that we use an offline oracle property checker, and we focus on the issues of test acceptance criteria and ground truth despite low cost localization sensors. Results and lessons learned from this experiment are presented.