Database of depth control results obtained with thrusters and a variable ballast system in shallow water, using the s-Nautilus and μ-Nautilus profilers

Data were collected using the autonomous underwater profilers called s-Nautilus and µ-Nautilus at the Real Club de Regatas de Cartagena, the La Isleta yacht club and at a point off Los Narejos beach. During these tests, the profilers monitored the depth for various depths using two thrusters or a ballast tank to adjust the buoyancy. These tests show the depth data recorded using both actuators for a given setpoint.

• Thrusters_tests_Real_Club_de_Regatas.csv: control of the profiler s-Nautilus using thrusters at depths of 3, 2 and 1 metre holding each setpoint for 80 seconds at Real Club de Regatas.
• VBS_tests_Real_Club_de_Regatas_1.csv: control of the profiler µ-Nautilus using ballast tank at depths of 4.5, 3.5, 2.5, and 1.5 metre holding each setpoint for 120 seconds at Real Club de Regatas.
• VBS_tests_Real_Club_de_Regatas_2.csv: control of the profiler µ-Nautilus using ballast tank at depths of 4.5, 3.5, 2.5, and 1.5 metre holding each setpoint for 20 seconds once the profiler is within the established error depth (±20 cm) and speed (±2.5 cm s-1) limits at Real Club de Regatas. Disturbances are applied in a test when the profiler is set at each depth.
• VBS_tests_La_Isleta.csv: control of the profiler µ-Nautilus using ballast tank at depths of 2.3, 1.9, 1.5 and 1.1 metre holding each setpoint for 20 seconds once the profiler is within the established error depth (±20 cm) and speed (±2.5 cm s-1) limits at La Isleta yacht club.
• VBS_tests_Los_Narejos.csv: control of the profiler µ-Nautilus using ballast tank at depths of 3.1, 2.1 and 1.1 metre holding each setpoint for 20 seconds once the profiler is within the established error depth (±20 cm) and speed (±2.5 cm s-1) limits at the station off Los Narejos.