Visible crew/equipment: When Zaphod says his first line "I certainly didn't survive.", you can see the person who plays his third arm standing behind him.
The Devil and the Deep Blue Sea - S2-E15
Visible crew/equipment: While Bill, Ralph, and Pam are on the Contrail deliberately steering the boat to bait Devereaux's men, the shadows of the cameraman, camera, and equipment are being cast onto Bill and the helm seat in front of Pam. (00:35:30)