The development of a control system for the dive plane control of non-linear biorobotic autonomous underwater vehicles. equipped with pectoral-like fins. is the subject of this paper. Marine animals use pectoral fins for swimming smoothly. https://www.roneverhart.com/Clos-Pegase-Cabernet-Sauvignon-Hommage-Tenma-Vineyard-Napa-Valley-2014/