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Currently, the system of automatic motion control can operate in various dynamic modes, characterized by specific task of command signals and external disturbances acting on the control object. For every mode at the system development stage a set of requirements, conditions, and restrictions is formed that must be met during motion and performing different manoeuvres. In the paper the questions of tuning the corrector for an autonomous underwater vehicle are discussed. Lateral motion of the AUV without external disturbances and under the wave disturbance is considered. The control law providing the astaticism is constructed. Coefficients of corrector and asymptotic observer are chosen. The comparison of transition process in the closed-loop system with corrector enabled and disabled is carried out. Performed algorithm is realized in the system MATLAB-Simulink.