The use of Autonomous Underwater Vehicles (AUV) as robots for exploration and oceanology science has been a field of interest of several universities and research centres around the world. Researchers from the Universidad Central de Las Villas (UCLV) and the Hydrographic Research Center (HRC) have joined forces in the development of the HRC-AUV project. This article is aimed at displaying the calculation of the HRC-AUV dynamic model, based on low-cost sensors and a set at low-cost experiments. The model is developed to synthesize control algorithms, fault tolerance schemes and navigation systems. Dynamic behaviour and validation of the obtained model is evaluated by means of simulation and sea trials experimental data. Based on a simplified versions of the dynamic model, a heading and pitch/depth controls were implemented. Experimental results of heading and pitch/depth controls and a basic path following are presented.