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# `_examples/grid_survey.tl`¶

Mission ID: `grid_survey`

Mission Path: `_examples/grid_survey.tl`

Vehicle uses grid waypoints generated from the dash to fly at a specified depth with science turned on. One comms stop upon arrival at the first waypoint.

## Arguments¶

### MissionTimeout¶

``````MissionTimeout = 3 hour
``````

Maximum duration of mission

### NeedCommsTime¶

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

How often to surface for commumications

### Repeat¶

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

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

### Depth¶

``````Depth = 50 meter
``````

Depth of flat and level flight during the mission.

### WPTCompleted¶

``````WPTCompleted = false
``````

A waypoint has been reached (initialized to false).

### CntWPTS¶

``````CntWPTS = 1 count
``````

Count of waypoints (initilized to 1).

### NumWPTS¶

``````NumWPTS = 75 count
``````

Total number of waypoints allowed.

### Lat1¶

``````Lat1 = 40.1 degree
``````

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

### Lon1¶

``````Lon1 = -69.9173 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.

### Lat8¶

``````Lat8 = NaN degree
``````

Latitude of waypoint 8. If nan, waypoint is skipped.

### Lon8¶

``````Lon8 = NaN degree
``````

Longitude of waypoint 8. If nan, waypoint is skipped.

### Lat9¶

``````Lat9 = NaN degree
``````

Latitude of waypoint 9. If nan, waypoint is skipped.

### Lon9¶

``````Lon9 = NaN degree
``````

Longitude of waypoint 9. If nan, waypoint is skipped.

### Lat10¶

``````Lat10 = NaN degree
``````

Latitude of waypoint 10. If nan, waypoint is skipped.

### Lon10¶

``````Lon10 = NaN degree
``````

Longitude of waypoint 10. If nan, waypoint is skipped.

### Lat11¶

``````Lat11 = NaN degree
``````

Latitude of waypoint 11. If nan, waypoint is skipped.

### Lon11¶

``````Lon11 = NaN degree
``````

Longitude of waypoint 11. If nan, waypoint is skipped.

### Lat12¶

``````Lat12 = NaN degree
``````

Latitude of waypoint 12. If nan, waypoint is skipped.

### Lon12¶

``````Lon12 = NaN degree
``````

Longitude of waypoint 12. If nan, waypoint is skipped.

### Lat13¶

``````Lat13 = NaN degree
``````

Latitude of waypoint 13. If nan, waypoint is skipped.

### Lon13¶

``````Lon13 = NaN degree
``````

Longitude of waypoint 13. If nan, waypoint is skipped.

### Lat14¶

``````Lat14 = NaN degree
``````

Latitude of waypoint 14. If nan, waypoint is skipped.

### Lon14¶

``````Lon14 = NaN degree
``````

Longitude of waypoint 14. If nan, waypoint is skipped.

### Lat15¶

``````Lat15 = NaN degree
``````

Latitude of waypoint 15. If nan, waypoint is skipped.

### Lon15¶

``````Lon15 = NaN degree
``````

Longitude of waypoint 15. If nan, waypoint is skipped.

### Lat16¶

``````Lat16 = NaN degree
``````

Latitude of waypoint 16. If nan, waypoint is skipped.

### Lon16¶

``````Lon16 = NaN degree
``````

Longitude of waypoint 16. If nan, waypoint is skipped.

### Lat17¶

``````Lat17 = NaN degree
``````

Latitude of waypoint 17. If nan, waypoint is skipped.

### Lon17¶

``````Lon17 = NaN degree
``````

Longitude of waypoint 17. If nan, waypoint is skipped.

### Lat18¶

``````Lat18 = NaN degree
``````

Latitude of waypoint 18. If nan, waypoint is skipped.

### Lon18¶

``````Lon18 = NaN degree
``````

Longitude of waypoint 18. If nan, waypoint is skipped.

### Lat19¶

``````Lat19 = NaN degree
``````

Latitude of waypoint 19. If nan, waypoint is skipped.

### Lon19¶

``````Lon19 = NaN degree
``````

Longitude of waypoint 19. If nan, waypoint is skipped.

### Lat20¶

``````Lat20 = NaN degree
``````

Latitude of waypoint 20. If nan, waypoint is skipped.

### Lon20¶

``````Lon20 = NaN degree
``````

Longitude of waypoint 20. If nan, waypoint is skipped.

### Lat21¶

``````Lat21 = NaN degree
``````

Latitude of waypoint 21. If nan, waypoint is skipped.

### Lon21¶

``````Lon21 = NaN degree
``````

Longitude of waypoint 21. If nan, waypoint is skipped.

### Lat22¶

``````Lat22 = NaN degree
``````

Latitude of waypoint 22. If nan, waypoint is skipped.

### Lon22¶

``````Lon22 = NaN degree
``````

Longitude of waypoint 22. If nan, waypoint is skipped.

### Lat23¶

``````Lat23 = NaN degree
``````

Latitude of waypoint 23. If nan, waypoint is skipped.

### Lon23¶

``````Lon23 = NaN degree
``````

Longitude of waypoint 23. If nan, waypoint is skipped.

### Lat24¶

``````Lat24 = NaN degree
``````

Latitude of waypoint 24. If nan, waypoint is skipped.

### Lon24¶

``````Lon24 = NaN degree
``````

Longitude of waypoint 24. If nan, waypoint is skipped.

### Lat25¶

``````Lat25 = NaN degree
``````

Latitude of waypoint 25. If nan, waypoint is skipped.

### Lon25¶

``````Lon25 = NaN degree
``````

Longitude of waypoint 25. If nan, waypoint is skipped.

### Lat26¶

``````Lat26 = NaN degree
``````

Latitude of waypoint 26. If nan, waypoint is skipped.

### Lon26¶

``````Lon26 = NaN degree
``````

Longitude of waypoint 26. If nan, waypoint is skipped.

### Lat27¶

``````Lat27 = NaN degree
``````

Latitude of waypoint 27. If nan, waypoint is skipped.

### Lon27¶

``````Lon27 = NaN degree
``````

Longitude of waypoint 27. If nan, waypoint is skipped.

### Lat28¶

``````Lat28 = NaN degree
``````

Latitude of waypoint 28. If nan, waypoint is skipped.

### Lon28¶

``````Lon28 = NaN degree
``````

Longitude of waypoint 28. If nan, waypoint is skipped.

### Lat29¶

``````Lat29 = NaN degree
``````

Latitude of waypoint 29. If nan, waypoint is skipped.

### Lon29¶

``````Lon29 = NaN degree
``````

Longitude of waypoint 29. If nan, waypoint is skipped.

### Lat30¶

``````Lat30 = NaN degree
``````

Latitude of waypoint 30. If nan, waypoint is skipped.

### Lon30¶

``````Lon30 = NaN degree
``````

Longitude of waypoint 30. If nan, waypoint is skipped.

### Lat31¶

``````Lat31 = NaN degree
``````

Latitude of waypoint 31. If nan, waypoint is skipped.

### Lon31¶

``````Lon31 = NaN degree
``````

Longitude of waypoint 31. If nan, waypoint is skipped.

### Lat32¶

``````Lat32 = NaN degree
``````

Latitude of waypoint 32. If nan, waypoint is skipped.

### Lon32¶

``````Lon32 = NaN degree
``````

Longitude of waypoint 32. If nan, waypoint is skipped.

### Lat33¶

``````Lat33 = NaN degree
``````

Latitude of waypoint 33. If nan, waypoint is skipped.

### Lon33¶

``````Lon33 = NaN degree
``````

Longitude of waypoint 33. If nan, waypoint is skipped.

### Lat34¶

``````Lat34 = NaN degree
``````

Latitude of waypoint 34. If nan, waypoint is skipped.

### Lon34¶

``````Lon34 = NaN degree
``````

Longitude of waypoint 34. If nan, waypoint is skipped.

### Lat35¶

``````Lat35 = NaN degree
``````

Latitude of waypoint 35. If nan, waypoint is skipped.

### Lon35¶

``````Lon35 = NaN degree
``````

Longitude of waypoint 35. If nan, waypoint is skipped.

### Lat36¶

``````Lat36 = NaN degree
``````

Latitude of waypoint 36. If nan, waypoint is skipped.

### Lon36¶

``````Lon36 = NaN degree
``````

Longitude of waypoint 36. If nan, waypoint is skipped.

### Lat37¶

``````Lat37 = NaN degree
``````

Latitude of waypoint 37. If nan, waypoint is skipped.

### Lon37¶

``````Lon37 = NaN degree
``````

Longitude of waypoint 37. If nan, waypoint is skipped.

### Lat38¶

``````Lat38 = NaN degree
``````

Latitude of waypoint 38. If nan, waypoint is skipped.

### Lon38¶

``````Lon38 = NaN degree
``````

Longitude of waypoint 38. If nan, waypoint is skipped.

### Lat39¶

``````Lat39 = NaN degree
``````

Latitude of waypoint 39. If nan, waypoint is skipped.

### Lon39¶

``````Lon39 = NaN degree
``````

Longitude of waypoint 39. If nan, waypoint is skipped.

### Lat40¶

``````Lat40 = NaN degree
``````

Latitude of waypoint 40. If nan, waypoint is skipped.

### Lon40¶

``````Lon40 = NaN degree
``````

Longitude of waypoint 40. If nan, waypoint is skipped.

### Lat41¶

``````Lat41 = NaN degree
``````

Latitude of waypoint 41. If nan, waypoint is skipped.

### Lon41¶

``````Lon41 = NaN degree
``````

Longitude of waypoint 41. If nan, waypoint is skipped.

### Lat42¶

``````Lat42 = NaN degree
``````

Latitude of waypoint 42. If nan, waypoint is skipped.

### Lon42¶

``````Lon42 = NaN degree
``````

Longitude of waypoint 42. If nan, waypoint is skipped.

### Lat43¶

``````Lat43 = NaN degree
``````

Latitude of waypoint 43. If nan, waypoint is skipped.

### Lon43¶

``````Lon43 = NaN degree
``````

Longitude of waypoint 43. If nan, waypoint is skipped.

### Lat44¶

``````Lat44 = NaN degree
``````

Latitude of waypoint 44. If nan, waypoint is skipped.

### Lon44¶

``````Lon44 = NaN degree
``````

Longitude of waypoint 44. If nan, waypoint is skipped.

### Lat45¶

``````Lat45 = NaN degree
``````

Latitude of waypoint 45. If nan, waypoint is skipped.

### Lon45¶

``````Lon45 = NaN degree
``````

Longitude of waypoint 45. If nan, waypoint is skipped.

### Lat46¶

``````Lat46 = NaN degree
``````

Latitude of waypoint 46. If nan, waypoint is skipped.

### Lon46¶

``````Lon46 = NaN degree
``````

Longitude of waypoint 46. If nan, waypoint is skipped.

### Lat47¶

``````Lat47 = NaN degree
``````

Latitude of waypoint 47. If nan, waypoint is skipped.

### Lon47¶

``````Lon47 = NaN degree
``````

Longitude of waypoint 47. If nan, waypoint is skipped.

### Lat48¶

``````Lat48 = NaN degree
``````

Latitude of waypoint 48. If nan, waypoint is skipped.

### Lon48¶

``````Lon48 = NaN degree
``````

Longitude of waypoint 48. If nan, waypoint is skipped.

### Lat49¶

``````Lat49 = NaN degree
``````

Latitude of waypoint 49. If nan, waypoint is skipped.

### Lon49¶

``````Lon49 = NaN degree
``````

Longitude of waypoint 49. If nan, waypoint is skipped.

### Lat50¶

``````Lat50 = NaN degree
``````

Latitude of waypoint 50. If nan, waypoint is skipped.

### Lon50¶

``````Lon50 = NaN degree
``````

Longitude of waypoint 50. If nan, waypoint is skipped.

### Lat51¶

``````Lat51 = NaN degree
``````

Latitude of waypoint 51. If nan, waypoint is skipped.

### Lon51¶

``````Lon51 = NaN degree
``````

Longitude of waypoint 51. If nan, waypoint is skipped.

### Lat52¶

``````Lat52 = NaN degree
``````

Latitude of waypoint 52. If nan, waypoint is skipped.

### Lon52¶

``````Lon52 = NaN degree
``````

Longitude of waypoint 52. If nan, waypoint is skipped.

### Lat53¶

``````Lat53 = NaN degree
``````

Latitude of waypoint 53. If nan, waypoint is skipped.

### Lon53¶

``````Lon53 = NaN degree
``````

Longitude of waypoint 53. If nan, waypoint is skipped.

### Lat54¶

``````Lat54 = NaN degree
``````

Latitude of waypoint 54. If nan, waypoint is skipped.

### Lon54¶

``````Lon54 = NaN degree
``````

Longitude of waypoint 54. If nan, waypoint is skipped.

### Lat55¶

``````Lat55 = NaN degree
``````

Latitude of waypoint 55. If nan, waypoint is skipped.

### Lon55¶

``````Lon55 = NaN degree
``````

Longitude of waypoint 55. If nan, waypoint is skipped.

### Lat56¶

``````Lat56 = NaN degree
``````

Latitude of waypoint 56. If nan, waypoint is skipped.

### Lon56¶

``````Lon56 = NaN degree
``````

Longitude of waypoint 56. If nan, waypoint is skipped.

### Lat57¶

``````Lat57 = NaN degree
``````

Latitude of waypoint 57. If nan, waypoint is skipped.

### Lon57¶

``````Lon57 = NaN degree
``````

Longitude of waypoint 57. If nan, waypoint is skipped.

### Lat58¶

``````Lat58 = NaN degree
``````

Latitude of waypoint 58. If nan, waypoint is skipped.

### Lon58¶

``````Lon58 = NaN degree
``````

Longitude of waypoint 58. If nan, waypoint is skipped.

### Lat59¶

``````Lat59 = NaN degree
``````

Latitude of waypoint 59. If nan, waypoint is skipped.

### Lon59¶

``````Lon59 = NaN degree
``````

Longitude of waypoint 59. If nan, waypoint is skipped.

### Lat60¶

``````Lat60 = NaN degree
``````

Latitude of waypoint 60. If nan, waypoint is skipped.

### Lon60¶

``````Lon60 = NaN degree
``````

Longitude of waypoint 60. If nan, waypoint is skipped.

### Lat61¶

``````Lat61 = NaN degree
``````

Latitude of waypoint 61. If nan, waypoint is skipped.

### Lon61¶

``````Lon61 = NaN degree
``````

Longitude of waypoint 61. If nan, waypoint is skipped.

### Lat62¶

``````Lat62 = NaN degree
``````

Latitude of waypoint 62. If nan, waypoint is skipped.

### Lon62¶

``````Lon62 = NaN degree
``````

Longitude of waypoint 62. If nan, waypoint is skipped.

### Lat63¶

``````Lat63 = NaN degree
``````

Latitude of waypoint 63. If nan, waypoint is skipped.

### Lon63¶

``````Lon63 = NaN degree
``````

Longitude of waypoint 63. If nan, waypoint is skipped.

### Lat64¶

``````Lat64 = NaN degree
``````

Latitude of waypoint 64. If nan, waypoint is skipped.

### Lon64¶

``````Lon64 = NaN degree
``````

Longitude of waypoint 64. If nan, waypoint is skipped.

### Lat65¶

``````Lat65 = NaN degree
``````

Latitude of waypoint 65. If nan, waypoint is skipped.

### Lon65¶

``````Lon65 = NaN degree
``````

Longitude of waypoint 65. If nan, waypoint is skipped.

### Lat66¶

``````Lat66 = NaN degree
``````

Latitude of waypoint 66. If nan, waypoint is skipped.

### Lon66¶

``````Lon66 = NaN degree
``````

Longitude of waypoint 66. If nan, waypoint is skipped.

### Lat67¶

``````Lat67 = NaN degree
``````

Latitude of waypoint 67. If nan, waypoint is skipped.

### Lon67¶

``````Lon67 = NaN degree
``````

Longitude of waypoint 67. If nan, waypoint is skipped.

### Lat68¶

``````Lat68 = NaN degree
``````

Latitude of waypoint 68. If nan, waypoint is skipped.

### Lon68¶

``````Lon68 = NaN degree
``````

Longitude of waypoint 68. If nan, waypoint is skipped.

### Lat69¶

``````Lat69 = NaN degree
``````

Latitude of waypoint 69. If nan, waypoint is skipped.

### Lon69¶

``````Lon69 = NaN degree
``````

Longitude of waypoint 69. If nan, waypoint is skipped.

### Lat70¶

``````Lat70 = NaN degree
``````

Latitude of waypoint 70. If nan, waypoint is skipped.

### Lon70¶

``````Lon70 = NaN degree
``````

Longitude of waypoint 70. If nan, waypoint is skipped.

### Lat71¶

``````Lat71 = NaN degree
``````

Latitude of waypoint 71. If nan, waypoint is skipped.

### Lon71¶

``````Lon71 = NaN degree
``````

Longitude of waypoint 71. If nan, waypoint is skipped.

### Lat72¶

``````Lat72 = NaN degree
``````

Latitude of waypoint 72. If nan, waypoint is skipped.

### Lon72¶

``````Lon72 = NaN degree
``````

Longitude of waypoint 72. If nan, waypoint is skipped.

### Lat73¶

``````Lat73 = NaN degree
``````

Latitude of waypoint 73. If nan, waypoint is skipped.

### Lon73¶

``````Lon73 = NaN degree
``````

Longitude of waypoint 73. If nan, waypoint is skipped.

### Lat74¶

``````Lat74 = NaN degree
``````

Latitude of waypoint 74. If nan, waypoint is skipped.

### Lon74¶

``````Lon74 = NaN degree
``````

Longitude of waypoint 74. If nan, waypoint is skipped.

### Lat75¶

``````Lat75 = NaN degree
``````

Latitude of waypoint 75. If nan, waypoint is skipped.

### Lon75¶

``````Lon75 = NaN degree
``````

Longitude of waypoint 75. If nan, waypoint is skipped.

### Speed¶

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

Speed while transiting to waypoints.

### BuoyancyNeutral¶

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

Buoyancy bladder position during the mission. 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 = 7 meter
``````

Minimum height above the sea floor for the entire mission.

### MaxDepth¶

``````MaxDepth = 65 meter
``````

Maximum depth for the entire mission.

### MinOffshore¶

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

Minimum offshore distance for the entire mission.

### LatSet¶

``````LatSet = NaN degree
``````

Latitude of waypoint for mission use. Initialized to NaN.

### LonSet¶

``````LonSet = NaN degree
``````

Longitude of waypoint for mission use. Initialized to NaN.

None defined

## Inserts¶

### `Insert/Science.tl`¶

Run the science sensors.