The scalability of floating systems (oil & gas and offshore wind sectors) depends on low-cost and agile marine operations for installation, inspection, maintenance and cleaning of their substructures, mooring lines, inter-array cables, and so on. Remotely operated vehicles (ROV’s) have been performing such tasks, reducing downtime and increasing agility and safety. Some of these operations need to be performed near the water surface, where the motions resulting from wave action on the floating systems and the ROV are significant. At this depth, the ROV needs to have its position and attitude automatically controlled to keep the relative distance to the floating system. In addition, the ROV-pilot should be able to modify the ROV pose based on changing mission goals while runs the operation under feasible conditions. To evaluate the feasibility of such a scenario, an analysis of a ROV performing a marine operation close to the surface in the North Sea is presented. This analysis consists of assessing the ROV capability and the percentage operability. The analysis is based on numerical simulations that consider both floating structure and ROV motions due to waves, current and wind. ROV has a positioning system that controls its position and attitude to keep the relative distance from the floating system. Feasibility analysis results are discussed to highlight the importance of evaluating both capability and operability of the ROV performing a marine operation, especially when it is close to the surface and follows a moving target represented by the floating system.