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{
"header": {
"message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd",
"timestamp": "2022-11-16T00:00:00Z",
"version": 2,
"source": "autonomy_engine",
"destination": "soar.#",
"delivery_type": "publish",
"encoded": false
},
"payload":{
"message_type": "mission_plan",
"platform_ID": "5-ah1",
"autonomy_engine_plan_ID": 1,
"plan": [
{
"action": "move",
"flight_style": "go to waypoint",
"start_point_latitude": -3.007143188645706,
"start_point_longitude": 50.37072283932642,
"target_waypoint_latitude": -3.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": false
},
{
"action": "dive",
"flight_style": "dive to depth",
"start_point_latitude": -3.237143188645706,
"start_point_longitude": 52.37072283932642,
"target_waypoint_latitude": -3.337143188645706,
"target_waypoint_longitude": 56.37072283932642,
"altitude": 10,
"activate_payload": false,
"send_environmental_data": false
},
{
"action": "scanline",
"flight_style": "go to waypoint",
"start_point_latitude": -3.337143188645706,
"start_point_longitude": 56.37072283932642,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 60.00000000000000,
"altitude": 10,
"activate_payload": true,
"send_environmental_data": false
},
{
"action": "climb",
"flight_style": "go to surface",
"start_point_latitude": -0.237143188645706,
"start_point_longitude": 60.00000000000000,
"target_waypoint_latitude": -0.237143188645706,
"target_waypoint_longitude": 52.37072283932642,
"depth": 0.0,
"activate_payload": false,
"send_environmental_data": true
}
]
}
}