The use of unmanned free-swimming submersibles can increase both the effectiveness and safety of under sea operations in deep or hostile waters. Because autonomous submersibles are beyond the state-of-the-art in artificial intelligence and computer vision, remote operated submersibles must be employed. Due to inherent time delays between the command and execution of a task (caused by the acoustic data link), conventional teleoperation of the submersible's manipulator arm(s) is a demanding task requiring the operator to maintain an accurate, up-to-date mental model of the remote environment. As a result, conventional teleoperation tends to disorient operators and dramatically decreases their performance. To eliminate these effects, we are developing a Virtual Environment for Undersea Telepresence (VEUTel) for controlling a manipulator arm on a remotely operated submersible. VEUTel addresses the problems associated with low bandwidth by totally immersing the operator in a virtual environment simulation of the remote environment. VEUTel intercepts operator commands and provides an instantaneous graphical simulation of the effect of the command on the manipulator arm. The integrity of the simulation is insured by using visual imagery and other sensor data from the remote environment to maintain synchronization between the virtual and remote environments.