This paper presents the use of Girona 500 AUV as a Hybrid ROV (HROV) to inspect underwater habitats by combining basic teleoperation and automatic way-point following. This duality allows safe movements, when inspecting visually the seabed, together with precise way-point movements, when mapping or reaching the area. Also, the use of a HROV containing its own energy simplifies the management of the umbilical cable, which can be smaller, and integrates all safety measures of an AUV. The Girona 500 AUV has been tested acting as HROV during 3 campaigns at 80 metres depth in a project for evaluating the state of transplanted gorgonians.