Curiosity commences execution ... 
Beliefs: dawn activate(exp) activate(sciopp) activate(battery) activate(return) current_charge(100) 
Goals: exp: pending empty || sciopp: pending empty || battery: pending empty || return: pending empty || 
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Event (0)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: dawn activate(exp) activate(sciopp) activate(battery) activate(return) current_charge(100) 
Goals: exp: pending empty || sciopp: pending empty || battery: pending empty || return: pending empty || 
Goal exp activate: pending -> active
Goal battery activate: pending -> monitoring
All goals stable
exp executing 
Beliefs: current_charge(80) active(exp) activate(sciopp) activate(return) 
Goals: exp: active [p2,p3,p4] || sciopp: pending empty || battery: monitoring empty || return: pending empty || 
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Event (1)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: current_charge(80) active(exp) activate(sciopp) activate(return) 
Goals: exp: active [p2,p3,p4] || sciopp: pending empty || battery: monitoring empty || return: pending empty || 
All goals stable
exp executing 
Beliefs: current_charge(30) active(exp) activate(sciopp) activate(return) 
Goals: exp: active [p3,p4] || sciopp: pending empty || battery: monitoring empty || return: pending empty || 
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Event (2)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: activate(charge) suspend(exp) predict_violation current_charge(30) active(exp) activate(sciopp) activate(return) 
Goals: exp: active [p3,p4] || sciopp: pending empty || battery: monitoring empty || return: pending empty || 
Goal exp suspend: active -> suspended
Goal battery respond: monitoring -> active
Chosen goal is charge
Goal sciopp suspend: pending -> suspended
Goal return suspend: pending -> suspended
All goals stable
exp: not executing sciopp: not executing battery executing SubGoalContext is g(charge,achieve(true,recharged,false),[act([recharged,drop(charge)],drop),act([abort(charge)],abort),act([activate(charge)],activate),act([suspend(charge)],suspend),act([reactivate(charge)],reactivate),act([reconsider(charge)],reconsider)],pending,empty)

Beliefs: suspended(return) suspended(sciopp) active(battery) suspended(exp) activate(charge) predict_violation current_charge(30) activate(sciopp) activate(return) 
Goals: exp: suspended [p3,p4] || sciopp: suspended empty || battery: active [mctest::[ask(recharged)]] || charge: pending empty || return: suspended empty || 
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Event (3)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: suspended(return) suspended(sciopp) active(battery) suspended(exp) activate(charge) predict_violation current_charge(30) activate(sciopp) activate(return) 
Goals: exp: suspended [p3,p4] || sciopp: suspended empty || battery: active [mctest::[ask(recharged)]] || charge: pending empty || return: suspended empty || 
Goal charge activate: pending -> active
All goals stable
exp: not executing sciopp: not executing battery executing 
Beliefs: active(charge) suspended(return) suspended(sciopp) active(battery) suspended(exp) predict_violation current_charge(30) activate(sciopp) activate(return) 
Goals: exp: suspended [p3,p4] || sciopp: suspended empty || charge: active [charge] || return: suspended empty || battery: active [mctest::[ask(recharged)]] || 
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Event (4)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: active(charge) suspended(return) suspended(sciopp) active(battery) suspended(exp) predict_violation current_charge(30) activate(sciopp) activate(return) 
Goals: exp: suspended [p3,p4] || sciopp: suspended empty || charge: active [charge] || return: suspended empty || battery: active [mctest::[ask(recharged)]] || 
All goals stable
exp: not executing sciopp: not executing charge executing 
Beliefs: current_charge(100) active(charge) suspended(return) suspended(sciopp) active(battery) suspended(exp) activate(sciopp) activate(return) 
Goals: exp: suspended [p3,p4] || sciopp: suspended empty || charge: active [] || return: suspended empty || battery: active [mctest::[ask(recharged)]] || 
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Event (5)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: current_charge(100) active(charge) suspended(return) suspended(sciopp) active(battery) suspended(exp) activate(sciopp) activate(return) 
Goals: exp: suspended [p3,p4] || sciopp: suspended empty || charge: active [] || return: suspended empty || battery: active [mctest::[ask(recharged)]] || 
Goal charge drop: active -> dropped
All goals stable
exp: not executing sciopp: not executing return: not executing battery executing 
Beliefs: current_charge(100) suspended(return) suspended(sciopp) active(battery) suspended(exp) activate(sciopp) activate(return) 
Goals: exp: suspended [p3,p4] || sciopp: suspended empty || return: suspended empty || battery: active [ask(recharged)] || 
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Event (6)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: current_charge(100) suspended(return) suspended(sciopp) active(battery) suspended(exp) activate(sciopp) activate(return) 
Goals: exp: suspended [p3,p4] || sciopp: suspended empty || return: suspended empty || battery: active [ask(recharged)] || 
All goals stable
exp: not executing sciopp: not executing return: not executing battery executing Ask plan 1

Beliefs: current_charge(100) suspended(return) suspended(sciopp) active(battery) suspended(exp) activate(sciopp) activate(return) 
Goals: exp: suspended [p3,p4] || sciopp: suspended empty || return: suspended empty || battery: active [] || 
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Event (7)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: reactivate(battery) current_charge(100) suspended(return) suspended(sciopp) active(battery) suspended(exp) activate(sciopp) activate(return) 
Goals: exp: suspended [p3,p4] || sciopp: suspended empty || return: suspended empty || battery: active [] || 
Goal battery reactivate: active -> monitoring
All goals stable
exp: not executing sciopp: not executing return: not executing battery: not executing 
Beliefs: current_charge(100) suspended(return) suspended(sciopp) suspended(exp) activate(sciopp) activate(return) 
Goals: exp: suspended [p3,p4] || sciopp: suspended empty || return: suspended empty || battery: monitoring empty || 
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Event (8)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: reconsider(return) reconsider(sciopp) reactivate(exp) current_charge(100) suspended(return) suspended(sciopp) suspended(exp) activate(sciopp) activate(return) 
Goals: exp: suspended [p3,p4] || sciopp: suspended empty || return: suspended empty || battery: monitoring empty || 
Goal exp reactivate: suspended -> active
Goal sciopp reconsider: suspended -> pending
Goal return reconsider: suspended -> pending
All goals stable
exp executing 
Beliefs: current_charge(78) active(exp) activate(sciopp) activate(return) 
Goals: exp: active [p4] || sciopp: pending empty || return: pending empty || battery: monitoring empty || 
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Event (9)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: rock_seen current_charge(78) active(exp) activate(sciopp) activate(return) 
Goals: exp: active [p4] || sciopp: pending empty || return: pending empty || battery: monitoring empty || 
Goal sciopp activate: pending -> active
Goal exp suspend: active -> suspended
Goal return suspend: pending -> suspended
All goals stable
exp: not executing sciopp executing 
Beliefs: at_rock suspended(return) suspended(exp) active(sciopp) rock_seen current_charge(78) activate(return) 
Goals: exp: suspended [p4] || sciopp: active [s2] || return: suspended empty || battery: monitoring empty || 
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Event (10)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: at_rock suspended(return) suspended(exp) active(sciopp) rock_seen current_charge(78) activate(return) 
Goals: exp: suspended [p4] || sciopp: active [s2] || return: suspended empty || battery: monitoring empty || 
All goals stable
exp: not executing sciopp executing 
Beliefs: rock_analysed suspended(return) suspended(exp) active(sciopp) rock_seen current_charge(78) activate(return) 
Goals: exp: suspended [p4] || sciopp: active [] || return: suspended empty || battery: monitoring empty || 
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Event (11)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: rock_analysed suspended(return) suspended(exp) active(sciopp) rock_seen current_charge(78) activate(return) 
Goals: exp: suspended [p4] || sciopp: active [] || return: suspended empty || battery: monitoring empty || 
Goal sciopp drop: active -> dropped
All goals stable
exp: not executing return: not executing battery: not executing 
Beliefs: rock_analysed suspended(return) suspended(exp) rock_seen current_charge(78) activate(return) 
Goals: exp: suspended [p4] || return: suspended empty || battery: monitoring empty || 
-----------------------------------------------------
Event (12)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: reconsider(return) rock_analysed suspended(return) suspended(exp) rock_seen current_charge(78) activate(return) 
Goals: exp: suspended [p4] || return: suspended empty || battery: monitoring empty || 
Goal return reconsider: suspended -> pending
All goals stable
exp: not executing return: not executing battery: not executing 
Beliefs: rock_analysed suspended(exp) rock_seen current_charge(78) activate(return) 
Goals: exp: suspended [p4] || return: pending empty || battery: monitoring empty || 
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Event (13)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: nearly_dusk rock_analysed suspended(exp) rock_seen current_charge(78) activate(return) 
Goals: exp: suspended [p4] || return: pending empty || battery: monitoring empty || 
Goal return activate: pending -> active
Goal exp abort: suspended -> dropped
All goals stable
return executing 
Beliefs: at_base active(return) nearly_dusk rock_analysed rock_seen current_charge(78) 
Goals: return: active [] || battery: monitoring empty || 
-----------------------------------------------------
Event (14)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: at_base active(return) nearly_dusk rock_analysed rock_seen current_charge(78) 
Goals: return: active [] || battery: monitoring empty || 
Goal return drop: active -> dropped
All goals stable
battery: not executing 
Beliefs: at_base nearly_dusk rock_analysed rock_seen current_charge(78) 
Goals: battery: monitoring empty || 
-----------------------------------------------------
Event (15)? ([]. for no change, [halt]. to halt): Halt event detected
Beliefs: at_base nearly_dusk rock_analysed rock_seen current_charge(78) 
Goals: battery: monitoring empty ||