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Hybrid underwater glider is a class from autonomous underwater vehicle (AUV) that the concept of a buoyancy-engine to drive the vehicle sinking or floating are integrated and propeller propulsion systems for variable motion. This kind of vehicle has multi-functionality that enables to maneuver with glider and AUV mode so that it is effective tool for oceanographic research. To represent the vehicle dynamic, the mathematical model base on newton-euler approach is designed as nonlinear equation that derive from forces and moment that acting from the vehicle design. For glider motion, buoyancy-engine and moving mass are coupled for working as input controller actuator, and there is controlling need to make the vehicle go to mission point in some depth for a mission. In this paper depth controller will be designed to make the vehicle stay on depth condition. PID controller are used for controller design, that the mathematical model are derived to linier model. Simulation on Simulink MATLAB are used to design the model and get vehicle dynamic respon. With vehicle characteristic for glider motion, desired waypoint obtained with PD control for moving mass in x-axes and P controller for buoyancy engine.