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# `Engineering/sci2_quickGPS.tl`¶

Mission ID: `sci2_quickGPS`

Mission Path: `Engineering/sci2_quickGPS.tl`

Vehicle yo-yo's to the specified waypoints, with science turned on.

## Arguments¶

### MissionTimeout¶

``````MissionTimeout = 2 hour
``````

Maximum duration of mission

### NeedCommsTime¶

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

How often to surface for commumications

### NeedGPSTime¶

``````NeedGPSTime = 20 minute
``````

After this time elapses AND the vehicle is pitched up, grab a fix underway

### Repeat¶

``````Repeat = 1 count
``````

Number of times the vehicle should try to cycle through waypoints..

### Lat1¶

``````Lat1 = NaN degree
``````

Latitude of waypoint 1. If nan, waypoint is skipped.

### Lon1¶

``````Lon1 = NaN degree
``````

Longitude of waypoint 1. If nan, waypoint is skipped.

### Lat2¶

``````Lat2 = NaN degree
``````

Latitude of waypoint 2. If nan, waypoint is skipped.

### Lon2¶

``````Lon2 = NaN degree
``````

Longitude of waypoint 2. If nan, waypoint is skipped.

### Lat3¶

``````Lat3 = NaN degree
``````

Latitude of waypoint 3. If nan, waypoint is skipped.

### Lon3¶

``````Lon3 = NaN degree
``````

Longitude of waypoint 3. If nan, waypoint is skipped.

### Lat4¶

``````Lat4 = NaN degree
``````

Latitude of waypoint 4. If nan, waypoint is skipped.

### Lon4¶

``````Lon4 = NaN degree
``````

Longitude of waypoint 4. If nan, waypoint is skipped.

### Lat5¶

``````Lat5 = NaN degree
``````

Latitude of waypoint 5. If nan, waypoint is skipped.

### Lon5¶

``````Lon5 = NaN degree
``````

Longitude of waypoint 5. If nan, waypoint is skipped.

### Lat6¶

``````Lat6 = NaN degree
``````

Latitude of waypoint 6. If nan, waypoint is skipped.

### Lon6¶

``````Lon6 = NaN degree
``````

Longitude of waypoint 6. If nan, waypoint is skipped.

### Lat7¶

``````Lat7 = NaN degree
``````

Latitude of waypoint 7. If nan, waypoint is skipped.

### Lon7¶

``````Lon7 = NaN degree
``````

Longitude of waypoint 7. If nan, waypoint is skipped.

### Speed¶

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

Speed while performing the YoYo behavior.

### CaptureRadius¶

``````CaptureRadius = NaN meter
``````

Speed while performing the YoYo behavior.

### YoYoMinDepth¶

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

Minimum depth while performing the YoYo behavior.

### YoYoMaxDepth¶

``````YoYoMaxDepth = 100 meter
``````

Maximum depth while performing the YoYo behavior.

### YoYoMinAltitude¶

``````YoYoMinAltitude = 9 meter
``````

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

### YoYoUpPitch¶

``````YoYoUpPitch = 20 degree
``````

Vehicle up pitch while performing the YoYo behavior.

### YoYoDownPitch¶

``````YoYoDownPitch = -20 degree
``````

Vehicle down pitch while performing the YoYo behavior.

### BuoyancyNeutral¶

``````BuoyancyNeutral = Control:VerticalControl.buoyancyNeutral
``````

Buoyancy bladder position while performing the YoYo behavior. Defaults to buoyancyNeutral setting in the Config/Control.cfg file. Set to NaN cc for active buoyancy

### MassDefault¶

``````MassDefault = Control:VerticalControl.massDefault
``````

Static setting for mass during the mission. Set to NaN mm for active mass position

### 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
``````