Ordered from Bath Iron Works, Bath, Maine, on 27 April 1979 as part of the FY79 program, Underwood was laid down on 30 July 1981, launched on 6 February 1982, and commissioned on 29 January 1983.

On 13 January 2010, Underwood was ordered to assist in the humanitarian relief efforts following the 2010 Haiti earthquake.

[1] Underwood was extensively used to counteract drug trafficking in Latin America with the assistance of the Coast Guard.

[3] It was then moved to the Naval Inactive Ship Maintenance Facility in Philadelphia, Pennsylvania, where it was laid up.

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