Yes - but you get used to it quite quickly. Think of a poor quality Skype call with a 1/2 second delay.

I do recommend getting a newer generation Iridium terminal, the old 9500 series is almost 12 years old. The 9575 will run you around $1300, but has the best reception and a rock solid antenna. The old 9500 has a rotating antenna which would stop staying in its upright position after a couple of months of use...