How to run cron run the moment after finishing previous one?

Thank you for your great module.

I am using Ultimate cron for running tasks, I have FIFO queue of tasks (Scraping other web). One cron run finishes one task. One task can take from 2 to maximum 8 minutes to finish. I run cron in 10 minutes intervals. So often there is 8 minutes time when no task is running.

What is best way to run other task after finishing previous one? I would like to invoke other cron run the moment after finishing previous cron run. I have simple MYSQL table of tasks with IDs.

Thank You for advices.