Coordination among heterogeneous vehicles becomes an effective approach to improve the efficiency of completing complicated tasks, which has been widely applied both to military and civil mission. The search and strike mission for underwater targets is focused on, and this mission is executed by the cooperation between an unmanned surface vehicle (USV) and an autonomous underwater vehicle (AUV). First, the framework of the USV&AUV system is described, and the roles of USV and AUV in this mission are defined. In the coordinated path planning model, the whole mission is divided into the search phase and the strike phase, and the indexes are maximizing the search space and minimizing the terminal position error respectively. The maneuverability, target detection capability and communication range of vehicles are all taken into account in this model. According to the characteristic of different phases, strategies based on random simulation experiments and asynchronous planning are developed respectively, and the paths are generated in a centralized or a distributed mode. Simulation results show that the USV&AUV system can complete the search and strike mission in different cases. Compare to the centralized mode, the distributed mode can address various situations in the strike phase.