A subsea intervention system is disclosed comprising a floating vessel and a source of coiled tubing at the floating vessel. The system includes a seabed installation including a wellhead and compliant guide having one end operatively connected to the floating vessel and the second end operatively connected to the seabed installation. The compliant guide provides a conduit between the floating vessel and the wellhead for the coiled tubing. At least one injector is present at the floating vessel for inserting the coiled tubing into the compliant guide, and a carousel is proximate the wellhead which comprises a plurality of chambers with intervention tools in at least two of those chambers. The system may also include a plurality of sensing units that are disposed at spaced intervals along the compliant guide to monitor various aspects of the compliant guide and to transmit that information to a repositioning system.