A lifting device to retrieve a marine vehicle comprises a lifting arms portion pivotally connected with a vehicle capture portion. The lifting arms portion and the vehicle capture portion rotate independently of each other. The vehicle capture portion comprises a capture connector having a probe for insertion into a latch opening in the vehicle to thereby attach the vehicle to the lifting device. The lifting arras portion further comprises two lifting arms and two vehicle pads for engaging the vehicle when it is captured. As the vehicle rolls during recovery operations, springs disposed between the vehicle capture portion and lifting arms portion dampen rotational motion. Lift line connections are provided on distal ends of the vehicle capture portion, and the lifting arms.