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  N / m 2
Wave height 5 m
Wave period 10 seconds
FPSO length 330 m