In this paper, we utilize autonomous underwater vehicle (AUV) to gather data from sensors. Due the limited power of an AUV, it is hard to collect all the information from every sensor in one trip. Therefore, in this paper, we propose using a docking station to deal with this problem. However, acoustic transmission leads to a large propagation delay such that it is quite difficult to plan the tour path of AUVs. In this paper, a tour-planning algorithm is proposed for data gathering in Underwater Acoustic Sensor Networks (UASNs). We will implement this tour-planning algorithm by utilizing simulation software and compared with UDMP  method in the near future.