Underwater inspeiction of the oil rigs, bridge and harbor structures, dams, and also recently fiber optics backbone cables are traditional areas of UUV applications. The UUV (a.k.a. ROV - Remote Operated Vehicle) that are used to do such work are either controlled over wire, or are fully robotic and bring the results of inspection upon surfacing and return to the base. Control over wire remains the most common way of operation of ROV, as it provides an opportunity for refocusing the inspection in a real time, and get the results faster, and have them more accurate.