Page auto-generated from this source.

# `Engineering/profile_station_backseat.tl`¶

Mission ID: ``

Mission Path: `Engineering/profile_station_backseat.tl`

This mission yoyos in a circle around a specified location.

## Arguments¶

### MissionTimeout¶

``````MissionTimeout = 4 hour
``````

Maximum duration of mission

### NeedCommsTime¶

``````NeedCommsTime = 60 minute
``````

Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications

### Lat¶

``````Lat = 36.806966 degree
``````

The latitude of the center of the circle.

### Lon¶

``````Lon = -121.824326 degree
``````

The longitude of the center of the circle.

``````Radius = 300 meter
``````

### YoYoMinDepth¶

``````YoYoMinDepth = 2 meter
``````

Minimum depth while performing the YoYo behavior.

### YoYoMaxDepth¶

``````YoYoMaxDepth = 20 meter
``````

Maximum depth while performing the YoYo behavior.

### YoYoMinAltitude¶

``````YoYoMinAltitude = 7 meter
``````

Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).

### YoYoPitch¶

``````YoYoPitch = 20 degree
``````

Pitch (plus and minus) for yo-yo behavior.

### YoYoDepthRate¶

``````YoYoDepthRate = NaN meter_per_second
``````

Depth rate (plus and minus) for yo-yo behavior. Overides YoYoPitch when value is set.

### Speed¶

``````Speed = 1 meter_per_second
``````

Vehicle speed.

### CircleMaxError¶

``````CircleMaxError = 100 meter
``````

If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle.

### CircleTurnToPort¶

``````CircleTurnToPort = false
``````

If true, vehicle turns to the left around the center point. If false, vehicle turns to the right.

``````KwpHeading = 0.010 radian_per_meter
``````

Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.)

### MinAltitude¶

``````MinAltitude = 5 meter
``````

Minimum height above the sea floor for the entire mission.

### MaxDepth¶

``````MaxDepth = 205 meter
``````

Maximum depth for the entire mission.

### MinOffshore¶

``````MinOffshore = 2 kilometer
``````

Minimum offshore distance for the entire mission.

None defined

## Inserts¶

### `Insert/Science.tl`¶

Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface.

``````redefineArg PeakDetectChlActive = true
``````