UINavigationController will resize it's child views for you, so you don't have to account for navigation or status bar. You only really need to add this view to VC's view and set it to flexible width/height so it'll fill parent view.
UIView *test = [[UIView alloc] initWithFrame:self.view.bounds];
test.backgroundColor = [UIColor greenColor];
test.autoresizingMask = UIViewAutoresizingFlexibleWidth | UIViewAutoresizingFlexibleHeight;
[self.view addSubview:test];