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This paper considers the performance of subsea intervention tasks from an unmanned untethered submersible while using acoustic communications. It is argued that the low bandwidth and high delay imposed by acoustic modems makes it unwise to adopt conventional teleoperation techniques and a system is presented which permits subsea teleoperative tasks to be carried out using such limited communication resources. The described implementation employs active techniques to assist the operator both indoi:10.1109/48.659450 fatcat:2w6mpdrr5rc3hhzpt7ku3tio7u