This paper describes the design of an unmanned aerial vehicle (UAV) for a dive mission. The dive is completed autonomously in order to hit the stationary target. The dive control input is constructed with a classical Proportional, Derivative, and Integral controller. The design process comprises UAV sizing, performance, and stability studies. The flight performance and stability analyses are performed first to validate the design. The dive is then done using a PID (Proportional, Integral, and Derivative) controller. According to the UAV response and control input history, the current design is capable of conducting the dive, and PID can effectively execute the dive maneuver.