Costing your maintenance budget will relate directly to the type of work you are intending doing with the vehicle and the maintenance time your contract allows so your people can repair the vehicle. Your utilisation of the system will be the deciding factor in the maintenance cost.
Regular Mobs / Demobs will also take their toll and if you have to leave the system unmanned for periods you will certainly see the effect in the balence sheet.
There is no real reason you will need to replace major assets within the first 2-3 years due to wear-out but you must consider your stock holding (or your suppliers if you are going to rely on them to keep you going) as you will need to cover your system while parts (PCBs ect.) are away being repaired. Lead times for repair items are very long at present so this needs to be factored in.
If you are a single system operator (I am guessing you are) then your maintenance costs per system will be far higher than larger operators due to their ability to swap spares around systems. So again the cost of maintaining a particular ROV to a rival company is not a reliable indicator as to what it will cost your company.
Most of the people on here are unaware of the costs of maintaining a system as they are the people working the systems rather than onshore based personnel dealing with this issue. Maintenance costs of individual systems is confidential information and its highly unlikely that you will get reliable help in this direction. My advice would be to ask your supplier to give guidance on repair costs and lead times and form your own opinion based on this guidance as to what you will need to budget for from year to year.