The auxiliary ship is the USNS John Glenn (MLP 2), the second ship of the MLP class.
The ship is 785 feet long and will serve as a floating base for amphibious operations and operate as a transfer point between large ships and small landing craft.
"This is a great day for the NASSCO, Navy and Military Sealift Command team," said Fred Harris, president of General Dynamics NASSCO. "We are delivering this ship with the quality, innovation and capability needed to support the future missions of the nation's fleet and uniformed men and women around the world."
Construction of the ship began in 2012. NASSCO said it incorporated more than 10,000 improvement ideas into its operations, which contributed to controlling costs and delivering the MLP 2 on schedule.
A third ship of the class is now being constructed and is scheduled for delivery to the Navy next year, the company said.