This paper presents an original design of an autonomous underwater vehicle where thrust force is created by the helicoidal shape of the hull. Propulsion force is created by counter-rotating bow and stern parts. The middle part of the vehicle contains all control mechanisms and communications that control the orientation of the vehicle. To solve the orientation problem special code is required using Arduino capabilities, adapting stabilization method of torques directed in opposite directions. The dynamics of AUV are simulated using multibody simulation software MSC Adams. Surrogate polynomial metamodels are created for simulation of water resistance forces and torques.