{ "header": { "message_ID": "b427003c-0000-11aa-a1eb-b1cdf2342fdd", "timestamp": "2022-11-16T00:00:00Z", "version": 2, "source": "autonomy_engine", "destination": "soar.noc.autosub.alr-52.to_platform.mission_plan", "delivery_type": "publish", "encoded": false }, "payload":{ "message_type": "mission_plan", "platform_ID": "5-ah1", "autonomy_engine_plan_ID": 1, "plan": [ { "action": "move", "start_point_latitude": 50.37072283932642, "start_point_longitude": -3.007143188645706, "target_waypoint_latitude": 52.37072283932642, "target_waypoint_longitude": -3.237143188645706, "depth": 0.0, "activate_payload": false, "timeout": 200 }, { "action": "dive", "start_point_latitude": 52.37072283932642, "start_point_longitude": -3.237143188645706, "target_waypoint_latitude": 56.37072283932642, "target_waypoint_longitude": -3.337143188645706, "altitude": 10, "activate_payload": false, "timeout": 200 }, { "action": "scanline", "start_point_latitude": 56.37072283932642, "start_point_longitude": -3.337143188645706, "target_waypoint_latitude": 60.00000000000000, "target_waypoint_longitude": -0.237143188645706, "altitude": 10, "activate_payload": true, "timeout": 200 }, { "action": "dive", "start_point_latitude": 60.00000000000000, "start_point_longitude": -0.237143188645706, "target_waypoint_latitude": 52.37072283932642, "target_waypoint_longitude": -0.237143188645706, "depth": 0.0, "activate_payload": false, "timeout": 200 } ] } }