The Maritime and Ocean Engineering Research Institute (MOERI), a branch of the Korea Ocean Research and Development Institute (KORDI), has developed a model for an AUV named ISiMI. ISiMI comes from the name of a small but strong fish from an old traditional story in Korea. In English, ISiMI is the acronym for Integrated Submergible for Intelligent Mission Implementation. ISiMI is an AUV platform that satisfies the various needs of the experimental tests required for the development of control and navigational architectures or software algorithms for underwater flying vehicles. To carry out a number of tests while avoiding many difficulties in field trials, the first version of ISiMI was designed to cruise in the Ocean Engineering Basin (OEB), a facility in KORDI that simulates the ocean’s environment.