Just a note in case anyone else experiences the BlueROV randomly disconnecting and then reconnecting seconds later. In my case I found this issue seems to be entirely related to the type of pc being used to run BlueOS/Cockpit.
Essentially the lower the PC specifications (processor, memory, graphics etc) the more often I found this as well as video lagging occurs. Using lower spec laptop/pc this happens constantly (every few minutes) while a higher spec laptop/pc it never happens. Hope this helps someone avoid a few rabbit holes!