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GENERAL INFORMATION
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1. Title: Results of depth control by thrusters and variable ballast system in shallow water using the s-Nautilus and μ-Nautilus profilers
2. Description of the dataset: The dataset provides
3. Authors: Isabel P. Morales-Aragón, Jaime Giménez Gallego, Roque Torres Sánchez, Javier Gilabert, Fulgencio Soto-Valles.
4. Author's contact information: Isabel P. Morales-Aragón (isabel.morales@upct.es, ORCID: 0000-0003-3202-0009, Universidad Politécnica de Cartagena).
5. Date of data collection: 
20-07-2022: Data collection Thrusters_tests_Real_Club_de_Regatas.csv
11-10-2023: Data collection VBS_tests_Real_Club_de_Regatas_1.csv
26-10-2024: Data collection VBS_tests_Real_Club_de_Regatas_2.csv
11-04-2024: Data collection VBS_tests_La_Isleta.csv
08-05-2024: Data collection VBS_tests_Los_Narejos.csv
6. Geographic location of data collection: "Real Club de Regatas", Cartagena, Spain (37°35'45.39"N 0°58'55.92"W); "La Isleta" yacht club, Cartagena, Spain, (37°38’54.5”N 0°43’15.9”W); "Los Narejos" beach, Murcia, Spain (37°44’53.3”N 0°49’45.5”W)
7. Funding: This study formed part of the THINKINAZUL programme and was supported by MICIU with funding from European Union NextGenerationEU (PRTR-C17.I1) and by Fundación Séneca with funding from Comunidad Autónoma Región de Murcia (CARM). Additionally, this project was financed by Ministerio de Ciencia, Innovación y Universidades (MICIU), by Agencia Estatal de Investigación (AEI) and by FEDER (PID2023-146358OB-I00).
8. Language of the dataset: English

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SHARING/ACCESS/CONTEXT INFORMATION
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1. Usage Licenses/restrictions placed on the data: CC-BY 4.0

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DATA & FILE OVERVIEW
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1. File List (if file is compressed, list its content): 
/
	- folder with 5 '.csv' files

2. File format: '.csv'

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METHODOLOGICAL INFORMATION
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1. Description of methods used for collection/generation of data: 
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.
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DATA-SPECIFIC INFORMATION:
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Thrusters_tests_Real_Club_de_Regatas.csv:
	1. Number of variables: 6
	2. Number of cases/rows: 13271
	3. Variable List: 
		- incr_t_s (s)
		- incr_t_ms (ms)
		- time (s)
		- setpoint (m)
		- depth (m)
		- duty_cycle (%)

VBS_tests_Real_Club_de_Regatas_1.csv:
	1. Number of variables: 11
	2. Number of cases/rows: 11823
	3. Variable List: 
		- year (year)
		- month (month)
		- day (day)
		- hour (h)
		- minute (min)
		- second (s)
		- sampling time (s)
		- setpoint (m)
		- depth (m)
		- EMA depth (m)
		- internal pressure (hPa)

VBS_tests_Real_Club_de_Regatas_2.csv:
	1. Number of variables: 11
	2. Number of cases/rows: 13340
	3. Variable List: 
		- year (year)
		- month (month)
		- day (day)
		- hour (h)
		- minute (min)
		- second (s)
		- sampling time (s)
		- setpoint (m)
		- depth (m)
		- EMA depth (m)
		- internal pressure (hPa)

VBS_tests_La_Isleta.csv:
	1. Number of variables: 11
	2. Number of cases/rows: 230131
	3. Variable List: 
		- year (year)
		- month (month)
		- day (day)
		- hour (h)
		- minute (min)
		- second (s)
		- sampling time (s)
		- setpoint (m)
		- depth (m)
		- EMA depth (m)
		- internal pressure (hPa)

VBS_tests_Los_Narejos.csv:
	1. Number of variables: 11
	2. Number of cases/rows: 159489
	3. Variable List: 
		- year (year)
		- month (month)
		- day (day)
		- hour (h)
		- minute (min)
		- second (s)
		- sampling time (s)
		- setpoint (m)
		- depth (m)
		- EMA depth (m)
		- internal pressure (hPa)