{ "header": { "message_ID": "b427003c-0000-11aa-a1eb-bvcdfghjgfdd", "timestamp": "2022-11-16T00:00:00Z", "version": 2, "source": "autonomy_engine", "destination": "noc_c2", "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 } ] } }