Remotely Operated vehicle, so called ROV is widely used for the seafloor explorations. The most of the existing ROVs are the hover type ones which is suspended in the sea. However, the hover type ROV is not suitable for the operations such as moving along the seafloor, stopping at a certain location on the seafloor and doing the heavy works like digging the seafloor. The crawler driven ROV is considered to be an applicable system for those operations. It is known that the crawler driven ROV is easy to run in unsteady attitude due to the buoyancy and the hydrodynamic force acting on the ROV and sometimes causes a turn over. Therefore, we have to know the precise moving capability to design the crawler ROV. Additionally, as the ROV is under the restrictions of the cable, it is necessary to know the movable area of the crawler ROV considering the cable tension. The authors have developed a simple method to estimate the movable area of the ROV based on the simple statics. The cable of the crawler driven ROV sometimes touches the seafloor. Therefore, the cable tension should be calculated considering the contact of the cable with the seafloor. However, in the previous research, the effects of the cable contact with the seafloor was not taken into accounted. The present study shows a numerical procedure to estimate the cable tension considering the contact of the cable with the seafloor and also the bending stiffness of the cable. Adapting this procedure, a method to estimate the movable area of the crawler ROV is shown. The model experiments are conducted to validate this method.