Autonomous Underwater Vehicles are unmanned vessel that can be used in many applications including offshore oil industry, marine biology research, and salvaging in an effort to replace divers. As todays Naval Explosive Ordinance Disposal Units look for innovative, technological developments in minefield clearance and related missions clearing unexploded ordinance, the further employment of autonomous unmanned vehicles (AUV) is under strong consideration. Instead of developing systems of high complexity and cost, it is worthwhile to investigate the development of low-cost AUVs with more singular and simplistic missions. This research investigates the design of a miniature efficient underwater glider, of dimensions consistent with the proposed mission. Underwater gliding refers to motion in which the force of gravity provides propulsion and steering is maintained by control fins or by controlling the location of the center of gravity. Wings on the vehicle support its weight underwater and subsequently allow horizontal motion. Different configurations of underwater vehicles will be designed in this study in order to develop a methodology for testing and modeling general underwater gliding behavior. The shape of the wings, their angle of attack, body shape, body size, and vehicle velocity will be factors used in formulating efficient underwater vehicle designs. In this paper, the research describes the design and preliminary analysis of several model underwater vehicles, consisting of a cylindrical body and configurable wings, which were built to demonstrate and test dynamics and control of underwater gliding. This Trident Project can later be expanded to build a prototype autonomous underwater glider after the precepts of underwater gliding are understood.