This paper describes the mathematical model and controller design for Manta-type unmanned underwater test vehicle (MUUTV) with 6 DOF nonlinear dynamic equations. The mathematical model contains hydrodynamic forces and moments expressed in terms of a set of hydrodynamic coefficients which were obtained through the PMM (planar motion mechanism) test. Based on the 6 DOF dynamic equations, numerical simulations have been performed to analyze the dynamic performance of the MUUTV. In addition, using the mathematical model PID and sliding mode controller are constructed for the diving and steering maneuver. Simulation results show that the control performance of the MUUTV compared with that of NPS (Naval Postgraduate School) AUV II.