Abstract: A system is presented with a seabed unit, a remotely operated vehicle (ROV), a cone rod measuring device, and a support ship. The seabed unit is lowered from the support ship by a winch line to the seafloor itself. A caisson on the seabed unit is used to secure the seabed unit to the seafloor. The ROV then inserts the cone rod measurement device into the upper thruster unit of the seabed unit. The thruster unit has a jacking mechanism for inserting the cone rod into the soil of the seafloor. The ROV has a hydraulic power source and hydraulic controls to manipulate the hydraulic actuators of the thruster unit to control the manner and timing of the jacking process that inserts and extracts the cone rod measuring unit into the seafloor. The ROV contains underwater cameras and control units that observe measurement gauges on the thruster unit and allow appropriate manipulation of the hydraulic controls on the ROV and the thruster unit.