Table 1: Parameters used in the simulations.

Parameter Value Robot length 1133 mm Robot max. outside diameter 800 mm Robot mass 73 kg Riser outer diameter 295.5 mm Riser inner diameter 203.5 mm Riser length 1530 m Riser internal pressure 60 bar Outer riser drag coefficient (Cd) 1.2 Water depth 1180 m Seabed axial friction 0.35 Seabed transversal friction 0.9 Seabed vertical stiffness 104.3  Wave height 5 m Wave period 10 seconds FPSO length 330 m