This paper focuses on the design and control of a new Autonomous Underwater Vehicle (AUV) named H160. The first prototype of this AUV has been designed through a collaboration of two partners, which are the LIRMM laboratory and ECA-HYTEC company. We present an overview of this project regarding the development of this vehicle including the software and hardware architecture, modelling and control. In addition, the first experimental results relying on real experimental conditions are displayed and commented.