TDEPTH control research of μ-Nautilus profiler in a real-world environment

The Mar Menor lagoon is a convergence point for various economic and industrial activities, which has significantly impacted its ecosystem over the last decade, leading to episodes fish mass mortality. Addressing this concern highlights the crucial necessity for ongoing monitoring of the water column by scientific groups and administrations. This study focuses on implementing a control algorithm capable of managing the depth in a compact and lightweight profiler called μ-Nautilus, which has the ability to integrate different sensors (oxygen, chlorophyll, electrical conductivity, temperature, among others) to continuously monitor diverse parameters based on specific requirements. An overview of challenges encountered during tests in real environments is presented, along with a comparison of the dynamic behavior and energy consumption of the profiler when implementing control algorithms designed to address these particular challenges.