You can essentially ignore the 4 altars on the right side of the map for the purposes of completing this mission's primary objectives. The heaviest concentration of altars are on the left side of the map, and in the middle. The Protoss base is located in the upper left hand corner of the map, and they'll be launching periodic attacks on your base. There are 13 Terrazine deposits in total on the map. Don't let the Protoss seal off 7 altars.
You can use the Goliath starting from this mission.
