diff --git a/docs/requirements.txt b/docs/requirements.txt
index b5f5a56..f6cb86a 100644
--- a/docs/requirements.txt
+++ b/docs/requirements.txt
@@ -15,7 +15,7 @@ sphinx-rtd-theme
 sphinx-book-theme
 # sphinx-bootstrap-theme
 
-parcels<2.3.0
+parcels==2.4.2
 cgen
 pymbolic
 Pydap
diff --git a/docs/usage/preparation.rst b/docs/usage/preparation.rst
index cf9795e..12aa571 100644
--- a/docs/usage/preparation.rst
+++ b/docs/usage/preparation.rst
@@ -149,11 +149,11 @@ Once you created a :class:`FloatConfiguration` instance, you can modify one or m
 
     cfg.update('parking_depth', 500)
 
-If you want the same mission configuration for all your virtual floats, you can pass this configuration when instanciate a :class:`VirtualFleet` : 
+If you want the same mission configuration for all your virtual floats, you can pass this configuration when instantiating a :class:`VirtualFleet` :
 
 .. code:: python
 
-   VFleet = VirtualFleet(plan=my_plan, fieldset=VELfield.fieldset, mission=cfg.mission)
+   VFleet = VirtualFleet(plan=my_plan, fieldset=VELfield, mission=cfg)
 
 But you can also customized the mission of each float by passing an array of mission configurations to the :class:`VirtualFleet` instance :
 
@@ -166,4 +166,4 @@ But you can also customized the mission of each float by passing an array of mis
     FloatConfiguration('default').update('parking_depth', 1000),
     FloatConfiguration('default').update('parking_depth', 1500)
    ]  
-   VFleet = VirtualFleet(plan=my_plan, fieldset=VELfield.fieldset, mission=mission)
\ No newline at end of file
+   VFleet = VirtualFleet(plan=my_plan, fieldset=VELfield, mission=mission)
\ No newline at end of file
diff --git a/docs/whats-new.rst b/docs/whats-new.rst
index d0c5065..957c2ca 100644
--- a/docs/whats-new.rst
+++ b/docs/whats-new.rst
@@ -7,6 +7,39 @@ What's New
 
 |pypi dwn|
 
+
+v0.3.1 (22 Nov. 2023)
+---------------------
+
+.. note:: This is the last version compatible with Parcels versions < 3.0.0
+
+**New features**
+
+- Mission parameters can now be set for each floats of the deployment plan. This is useful to limit the number of simulations to explore a set of configuration parameters. (:pr:`22`) by `K. Balem <http://www.github.com/quai20>`_.
+For instance:
+
+.. code-block:: python
+
+    # Number of floats
+    nfloats = 5
+
+    # Define space/time locations of deployments:
+    lat = np.linspace(40, 41, nfloats)
+    lon = np.full_like(lat, 5)
+    tim = np.array(['2020-01-16' for i in range(nfloats)], dtype='datetime64')
+    my_plan = {'lat': lat, 'lon': lon, 'time': tim}
+
+    mission = [
+        FloatConfiguration('default').update('parking_depth', 100),
+        FloatConfiguration('default').update('parking_depth', 200),
+        FloatConfiguration('default').update('parking_depth', 500),
+        FloatConfiguration('default').update('parking_depth', 1000),
+        FloatConfiguration('default').update('parking_depth', 1500)
+    ]
+
+    VFleet = VirtualFleet(plan=my_plan, fieldset=VELfield, mission=mission)
+
+
 v0.3.0 (25 Jan. 2023)
 ---------------------
 By `G. Maze <http://www.github.com/gmaze>`_ and `K. Balem <http://www.github.com/quai20>`_.
diff --git a/environment-doc.yml b/environment-doc.yml
index 823f907..cba4bb6 100644
--- a/environment-doc.yml
+++ b/environment-doc.yml
@@ -4,7 +4,7 @@ channels:
 dependencies:
   - python=3.8
   - xarray
-  - parcels>=2.4.0
+  - parcels<3.0.0
   - scipy
   - netcdf4
   - dask
diff --git a/virtualargofleet/utilities.py b/virtualargofleet/utilities.py
index da84d08..43db74f 100644
--- a/virtualargofleet/utilities.py
+++ b/virtualargofleet/utilities.py
@@ -75,7 +75,7 @@ def meta_to_json(d):
 class FloatConfiguration:
     """Float mission configuration manager
 
-    Create a default configuration and then possibly update parameter values or add new ones
+    Create a default configuration and then possibly update parameter values
 
     Can be used to create a virtual fleet, to save or load float configurations
 
diff --git a/virtualargofleet/virtualargofleet.py b/virtualargofleet/virtualargofleet.py
index b6fcaa8..87ec9e7 100644
--- a/virtualargofleet/virtualargofleet.py
+++ b/virtualargofleet/virtualargofleet.py
@@ -23,7 +23,7 @@
 from .utilities import simu2csv, simu2index, strfdelta, getSystemInfo
 from packaging import version
 import time
-from typing import Union
+from typing import Union, Iterable
 
 
 log = logging.getLogger("virtualfleet.virtualfleet")
@@ -38,8 +38,8 @@ class VirtualFleet:
     def __init__(self,
                  plan: dict,
                  fieldset: Union[FieldSet, VelocityField],
-                 mission: Union[dict, FloatConfiguration, list, np.ndarray, tuple],
-                 isglobal: bool=False,
+                 mission: Union[dict, FloatConfiguration, Iterable[dict], Iterable[FloatConfiguration]],
+                 isglobal: bool = False,
                  **kwargs):
         """Create an Argo Virtual Fleet simulator
 
@@ -51,8 +51,12 @@ def __init__(self,
             Depth is optional, if not provided it will be set to 1m.
         fieldset: :class:`parcels.fieldset.FieldSet` or :class:`VelocityField`
             A velocity field
-        mission: dict or :class:`FloatConfiguration` or list/array of those (then it should be the same length as plan arrays)
-            A dictionary with at least the following Argo float mission parameters: ``parking_depth``, ``profile_depth``, ``vertical_speed`` and ``cycle_duration``
+        mission: dict or :class:`FloatConfiguration` or an iterable of those
+            A dictionary with the following Argo float mission parameters: ``parking_depth``, ``profile_depth``,
+            ``vertical_speed`` and ``cycle_duration``. A :class:`FloatConfiguration` instance can also be passed.
+
+            An iterable of dictionaries or :class:`FloatConfiguration` can be passed to specified mission parameters for each
+            virtual floats. In this case, the length of the iterable must match the length of the deployment plan.
         isglobal: bool, optional, default=False
             A boolean indicating weather the velocity field is global or not