This is probably the most demanding exercise you will attempt, but by now, you should feel pretty comfortable that you can control the ROV with precision and skill. Select a point of reference, such as a mark or drain on the bottom of the pool and try to circle the reference point. Maintain a constant distance and adjust your heading to face the object the whole time while you orbit it. Orbit in both directions. If your system includes a DVL, you will find the Pro 5 with Greensea Systems software can do the maneuver with ease and very high precision to create a near perfect circle while always facing directly toward the reference point.