Yes, for about 30 years. My uncle used to work as an engineer on an oil rig in the Gulf, and he had some fun stories about his experiences writing remote-control software for underwater ROVs.
Due to the intricate nature of the work the ROVs sometimes did, and the limited size of the onboard battery, the software had to be incredibly efficient. For instance, it had to take into account the variances in water temperature at various depths, since signals travel at ever-so-slightly different speeds depending on temperature. So the pillars carrying the rigs had temperature sensors every X feet that reported the water temperature in real-time, and the software took that into account to minimize latency and increase responsiveness for the pilot.
This one time, a ship was transporting a $500,000 computer onto the rig, and the crane snapped, sending the computer into the ocean. They were going to give up on it, but my uncle pulled an all-nighter and wrote a piece of software that calculated the possible locations the package could travel to given currents at various depths, and the next morning they sent ROVs to scan the ocean floor at those locations and were able to find the computer and carry it back tot the surface. The outside casing was crushed due to the pressure but it was still intact. :)
Due to the intricate nature of the work the ROVs sometimes did, and the limited size of the onboard battery, the software had to be incredibly efficient. For instance, it had to take into account the variances in water temperature at various depths, since signals travel at ever-so-slightly different speeds depending on temperature. So the pillars carrying the rigs had temperature sensors every X feet that reported the water temperature in real-time, and the software took that into account to minimize latency and increase responsiveness for the pilot.
This one time, a ship was transporting a $500,000 computer onto the rig, and the crane snapped, sending the computer into the ocean. They were going to give up on it, but my uncle pulled an all-nighter and wrote a piece of software that calculated the possible locations the package could travel to given currents at various depths, and the next morning they sent ROVs to scan the ocean floor at those locations and were able to find the computer and carry it back tot the surface. The outside casing was crushed due to the pressure but it was still intact. :)