In order for the Navy's next generation Unmanned Undersea Vehicles to be more robust to software/hardware faults, on-line failure detection and resolution is needed. Typically, fault detection methods include limits and trends analysis, model free, and model based techniques. Here, model based observers are proposed for the detection of fault induced dynamic signals in the diving, steering, and roll control systems. Such automatic fault detection systems were designed and implemented in a Simulink model of the \"21UUV.\" in the course of conducting simulations with the model, numerous vehicle behaviors were studied and detection response was verified. In addition, the model based observer residuals may be designed to distinguish actuator faults from wave disturbances and fin faults from maneuvering responses

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