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.

本数据集的数据采集依托两款自主水下剖面仪（autonomous underwater profilers）——s-Nautilus与μ-Nautilus，分别在卡塔赫纳皇家帆船俱乐部（Real Club de Regatas de Cartagena）、拉伊莱塔游艇俱乐部以及洛斯纳雷霍斯海滩外测点完成。测试期间，剖面仪通过两台推进器（thrusters）或压载舱（ballast tank）调节浮力，在不同深度工况下开展水深监测。本次测试获取了两种执行机构在给定设定点（setpoint）下记录的水深数据。

Thrusters_tests_Real_Club_de_Regatas.csv：在卡塔赫纳皇家帆船俱乐部开展的s-Nautilus剖面仪推进器控制测试数据集，测试水深分别为3米、2米与1米，每个设定点驻留时长为80秒。

VBS_tests_Real_Club_de_Regatas_1.csv：在卡塔赫纳皇家帆船俱乐部开展的μ-Nautilus剖面仪压载舱控制测试数据集1，测试水深分别为4.5米、3.5米、2.5米与1.5米，每个设定点驻留时长为120秒。

VBS_tests_Real_Club_de_Regatas_2.csv：在卡塔赫纳皇家帆船俱乐部开展的μ-Nautilus剖面仪压载舱控制测试数据集2，当剖面仪满足预设的水深误差（±20厘米）与速度（±2.5厘米每秒）限值要求后，测试水深分别为4.5米、3.5米、2.5米与1.5米，每个设定点驻留时长为20秒；测试过程中，当剖面仪处于各设定水深时，将施加外部扰动。

VBS_tests_La_Isleta.csv：在拉伊莱塔游艇俱乐部开展的μ-Nautilus剖面仪压载舱控制测试数据集，当剖面仪满足预设的水深误差（±20厘米）与速度（±2.5厘米每秒）限值要求后，测试水深分别为2.3米、1.9米、1.5米与1.1米，每个设定点驻留时长为20秒。

VBS_tests_Los_Narejos.csv：在洛斯纳雷霍斯海滩外测点开展的μ-Nautilus剖面仪压载舱控制测试数据集，当剖面仪满足预设的水深误差（±20厘米）与速度（±2.5厘米每秒）限值要求后，测试水深分别为3.1米、2.1米与1.1米，每个设定点驻留时长为20秒。