  This paper presents a mission system and the therein implemented algorithms
for path planning in a time-varying environment based on graph methods. The
basic task of the introduced path planning algorithms is to find a time-optimal
path from a defined start position to a goal position with consideration of the
time-varying ocean current for an autonomous underwater vehicle (AUV). Building
on this, additional practice-oriented considerations in planning are discussed
in this paper. Such points are the discussion of possible methods to accelerate
the algorithms and the determination of the optimal departure time. The
solutions and algorithms presented in this paper are focused on path planning
requirements for the AUV ``SLOCUM Glider''. These algorithms are equally
applicable to other AUVs or aerial mobile autonomous systems.
