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ROVsim?

ROVsim² Pro puts control of virtually every facet of the simulation in your hands. You can adjust the ROV’s physics and dynamics, change the video overlay, enable options such as casualty simulation, and adjust the environment. With just a few clicks, the video overlay as well as physical and dynamic operating characteristics of the vehicle can be changed to simulate a wide range of ROVs. And with just a few more clicks, the environment can be changed from clear and tranquil to zero visibility with dangerous currents. No other ROV simulator on the market offers this much flexibility at this price point.
ROV simulator:

♦ ntegrated scanning Sonar simulator
♦ Remote Instructor Control
♦ Tether Management System
♦ Vehicle pitch control
♦ Two cameras on ROV
♦ Expanded Custom Mission Designer
♦ Vehicle dynamics editor
♦ Current and visibility editor
♦ Adjustable sea-state, surge and current
♦ Casualty simulation
♦ Windows 7 (32 bit, 64 bit optional)