Curiosity commences execution ... 
Beliefs: dawn calm_weather activate(exp) activate(sciopp) activate(battery) activate(return) activate(nighttime) current_charge(100) 
Goals: exp: pending empty || sciopp: pending empty || battery: pending empty || return: pending empty || nighttime: pending empty || 
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Event (0)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: dawn calm_weather activate(exp) activate(sciopp) activate(battery) activate(return) activate(nighttime) current_charge(100) 
Goals: exp: pending empty || sciopp: pending empty || battery: pending empty || return: pending empty || nighttime: pending empty || 
Goal exp activate: pending -> active
Goal battery activate: pending -> monitoring
All goals stable
exp executing [p1,p2,p3,p4]
Beliefs: current_charge(80) active(exp) calm_weather activate(sciopp) activate(return) activate(nighttime) 
Goals: exp: active [p2,p3,p4] || sciopp: pending empty || battery: monitoring empty || return: pending empty || nighttime: pending empty || 
-----------------------------------------------------
Event (1)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: current_charge(80) active(exp) calm_weather activate(sciopp) activate(return) activate(nighttime) 
Goals: exp: active [p2,p3,p4] || sciopp: pending empty || battery: monitoring empty || return: pending empty || nighttime: pending empty || 
All goals stable
exp executing [p2,p3,p4]
Beliefs: current_charge(30) active(exp) calm_weather activate(sciopp) activate(return) activate(nighttime) 
Goals: exp: active [p3,p4] || sciopp: pending empty || battery: monitoring empty || return: pending empty || nighttime: 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) calm_weather activate(sciopp) activate(return) activate(nighttime) 
Goals: exp: active [p3,p4] || sciopp: pending empty || battery: monitoring empty || return: pending empty || nighttime: pending empty || 
Goal exp suspend: active -> suspended
Goal battery respond: monitoring -> active
Chosen goal is charge
All goals stable
exp: not executing sciopp: not executing battery executing subgoal(charge)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: active(battery) suspended(exp) activate(charge) predict_violation current_charge(30) calm_weather activate(sciopp) activate(return) activate(nighttime) 
Goals: exp: suspended [p3,p4] || sciopp: pending empty || battery: active [mctest::[ask(recharged)]] || charge: pending empty || return: pending empty || nighttime: pending empty || 
-----------------------------------------------------
Event (3)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: active(battery) suspended(exp) activate(charge) predict_violation current_charge(30) calm_weather activate(sciopp) activate(return) activate(nighttime) 
Goals: exp: suspended [p3,p4] || sciopp: pending empty || battery: active [mctest::[ask(recharged)]] || charge: pending empty || return: pending empty || nighttime: pending empty || 
Goal charge activate: pending -> active
All goals stable
exp: not executing sciopp: not executing battery executing [mctest::[ask(recharged)]]
Beliefs: active(charge) active(battery) suspended(exp) predict_violation current_charge(30) calm_weather activate(sciopp) activate(return) activate(nighttime) 
Goals: exp: suspended [p3,p4] || sciopp: pending empty || charge: active [charge] || return: pending empty || nighttime: pending empty || battery: active [mctest::[ask(recharged)]] || 
-----------------------------------------------------
Event (4)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: active(charge) active(battery) suspended(exp) predict_violation current_charge(30) calm_weather activate(sciopp) activate(return) activate(nighttime) 
Goals: exp: suspended [p3,p4] || sciopp: pending empty || charge: active [charge] || return: pending empty || nighttime: pending empty || battery: active [mctest::[ask(recharged)]] || 
All goals stable
exp: not executing sciopp: not executing charge executing [charge]
Beliefs: current_charge(100) active(charge) active(battery) suspended(exp) calm_weather activate(sciopp) activate(return) activate(nighttime) 
Goals: exp: suspended [p3,p4] || sciopp: pending empty || charge: active [] || return: pending empty || nighttime: pending empty || battery: active [mctest::[ask(recharged)]] || 
-----------------------------------------------------
Event (5)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: current_charge(100) active(charge) active(battery) suspended(exp) calm_weather activate(sciopp) activate(return) activate(nighttime) 
Goals: exp: suspended [p3,p4] || sciopp: pending empty || charge: active [] || return: pending empty || nighttime: pending empty || battery: active [mctest::[ask(recharged)]] || 
Goal charge drop: active -> dropped
All goals stable
exp: not executing sciopp: not executing return: not executing nighttime: not executing battery executing [mctest::[ask(recharged)]]
Beliefs: current_charge(100) active(battery) suspended(exp) calm_weather activate(sciopp) activate(return) activate(nighttime) 
Goals: exp: suspended [p3,p4] || sciopp: pending empty || return: pending empty || nighttime: pending empty || battery: active [ask(recharged)] || 
-----------------------------------------------------
Event (6)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: current_charge(100) active(battery) suspended(exp) calm_weather activate(sciopp) activate(return) activate(nighttime) 
Goals: exp: suspended [p3,p4] || sciopp: pending empty || return: pending empty || nighttime: pending empty || battery: active [ask(recharged)] || 
All goals stable
exp: not executing sciopp: not executing return: not executing nighttime: not executing battery executing [ask(recharged)]Ask plan 1

Beliefs: current_charge(100) active(battery) suspended(exp) calm_weather activate(sciopp) activate(return) activate(nighttime) 
Goals: exp: suspended [p3,p4] || sciopp: pending empty || return: pending empty || nighttime: pending empty || battery: active [] || 
-----------------------------------------------------
Event (7)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: reactivate(battery) current_charge(100) active(battery) suspended(exp) calm_weather activate(sciopp) activate(return) activate(nighttime) 
Goals: exp: suspended [p3,p4] || sciopp: pending empty || return: pending empty || nighttime: pending empty || battery: active [] || 
Goal battery reactivate: active -> monitoring
All goals stable
exp: not executing sciopp: not executing return: not executing nighttime: not executing battery: not executing 
Beliefs: current_charge(100) suspended(exp) calm_weather activate(sciopp) activate(return) activate(nighttime) 
Goals: exp: suspended [p3,p4] || sciopp: pending empty || return: pending empty || nighttime: pending empty || battery: monitoring empty || 
-----------------------------------------------------
Event (8)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: reactivate(exp) current_charge(100) suspended(exp) calm_weather activate(sciopp) activate(return) activate(nighttime) 
Goals: exp: suspended [p3,p4] || sciopp: pending empty || return: pending empty || nighttime: pending empty || battery: monitoring empty || 
Goal exp reactivate: suspended -> active
All goals stable
exp executing [p3,p4]
Beliefs: current_charge(78) active(exp) calm_weather activate(sciopp) activate(return) activate(nighttime) 
Goals: exp: active [p4] || sciopp: pending empty || return: pending empty || nighttime: pending empty || battery: monitoring empty || 
-----------------------------------------------------
Event (9)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: rock_seen current_charge(78) active(exp) calm_weather activate(sciopp) activate(return) activate(nighttime) 
Goals: exp: active [p4] || sciopp: pending empty || return: pending empty || nighttime: pending empty || battery: monitoring empty || 
Goal sciopp activate: pending -> active
Goal exp suspend: active -> suspended
All goals stable
exp: not executing sciopp executing [s1,s2]
Beliefs: at_rock suspended(exp) active(sciopp) rock_seen current_charge(78) calm_weather activate(return) activate(nighttime) 
Goals: exp: suspended [p4] || sciopp: active [s2] || return: pending empty || nighttime: pending empty || battery: monitoring empty || 
-----------------------------------------------------
Event (10)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: nearly_dusk at_rock suspended(exp) active(sciopp) rock_seen current_charge(78) calm_weather activate(return) activate(nighttime) 
Goals: exp: suspended [p4] || sciopp: active [s2] || return: pending empty || nighttime: pending empty || battery: monitoring empty || 
Goal nighttime activate: pending -> active
Goal sciopp suspend: active -> suspended
All goals stable
exp: not executing sciopp: not executing return: not executing nighttime executing [n1,n2,nearly_dawn::[n3]]
Beliefs: suspended(sciopp) active(nighttime) nearly_dusk at_rock suspended(exp) rock_seen current_charge(78) calm_weather activate(return) 
Goals: exp: suspended [p4] || sciopp: suspended [s2] || return: pending empty || nighttime: active [n2,nearly_dawn::[n3]] || battery: monitoring empty || 
-----------------------------------------------------
Event (11)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: suspended(sciopp) active(nighttime) nearly_dusk at_rock suspended(exp) rock_seen current_charge(78) calm_weather activate(return) 
Goals: exp: suspended [p4] || sciopp: suspended [s2] || return: pending empty || nighttime: active [n2,nearly_dawn::[n3]] || battery: monitoring empty || 
All goals stable
exp: not executing sciopp: not executing return: not executing nighttime executing [n2,nearly_dawn::[n3]]
Beliefs: stable_position suspended(sciopp) active(nighttime) nearly_dusk at_rock suspended(exp) rock_seen current_charge(78) calm_weather activate(return) 
Goals: exp: suspended [p4] || sciopp: suspended [s2] || return: pending empty || nighttime: active [nearly_dawn::[n3]] || battery: monitoring empty || 
-----------------------------------------------------
Event (12)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: stable_position suspended(sciopp) active(nighttime) nearly_dusk at_rock suspended(exp) rock_seen current_charge(78) calm_weather activate(return) 
Goals: exp: suspended [p4] || sciopp: suspended [s2] || return: pending empty || nighttime: active [nearly_dawn::[n3]] || battery: monitoring empty || 
All goals stable
exp: not executing sciopp: not executing return: not executing nighttime executing [nearly_dawn::[n3]]
Beliefs: stable_position suspended(sciopp) active(nighttime) nearly_dusk at_rock suspended(exp) rock_seen current_charge(78) calm_weather activate(return) 
Goals: exp: suspended [p4] || sciopp: suspended [s2] || return: pending empty || battery: monitoring empty || nighttime: active [nearly_dawn::[n3]] || 
-----------------------------------------------------
Event (13)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: nearly_dawn stable_position suspended(sciopp) active(nighttime) nearly_dusk at_rock suspended(exp) rock_seen current_charge(78) calm_weather activate(return) 
Goals: exp: suspended [p4] || sciopp: suspended [s2] || return: pending empty || battery: monitoring empty || nighttime: active [nearly_dawn::[n3]] || 
All goals stable
exp: not executing sciopp: not executing return: not executing battery: not executing nighttime executing [nearly_dawn::[n3]]
Beliefs: nearly_dawn stable_position suspended(sciopp) active(nighttime) nearly_dusk at_rock suspended(exp) rock_seen current_charge(78) calm_weather activate(return) 
Goals: exp: suspended [p4] || sciopp: suspended [s2] || return: pending empty || battery: monitoring empty || nighttime: active [n3] || 
-----------------------------------------------------
Event (14)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: nearly_dawn stable_position suspended(sciopp) active(nighttime) nearly_dusk at_rock suspended(exp) rock_seen current_charge(78) calm_weather activate(return) 
Goals: exp: suspended [p4] || sciopp: suspended [s2] || return: pending empty || battery: monitoring empty || nighttime: active [n3] || 
All goals stable
exp: not executing sciopp: not executing return: not executing battery: not executing nighttime executing [n3]
Beliefs: done stable_position suspended(sciopp) active(nighttime) nearly_dusk at_rock suspended(exp) rock_seen current_charge(78) calm_weather activate(return) 
Goals: exp: suspended [p4] || sciopp: suspended [s2] || return: pending empty || battery: monitoring empty || nighttime: active [] || 
-----------------------------------------------------
Event (15)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: done stable_position suspended(sciopp) active(nighttime) nearly_dusk at_rock suspended(exp) rock_seen current_charge(78) calm_weather activate(return) 
Goals: exp: suspended [p4] || sciopp: suspended [s2] || return: pending empty || battery: monitoring empty || nighttime: active [] || 
Goal nighttime drop: active -> dropped
All goals stable
exp: not executing sciopp: not executing return: not executing battery: not executing 
Beliefs: done stable_position suspended(sciopp) nearly_dusk at_rock suspended(exp) rock_seen current_charge(78) calm_weather activate(return) 
Goals: exp: suspended [p4] || sciopp: suspended [s2] || return: pending empty || battery: monitoring empty || 
-----------------------------------------------------
Event (16)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: reconsider(return) reactivate(sciopp) done stable_position suspended(sciopp) nearly_dusk at_rock suspended(exp) rock_seen current_charge(78) calm_weather activate(return) 
Goals: exp: suspended [p4] || sciopp: suspended [s2] || return: pending empty || battery: monitoring empty || 
Goal sciopp reactivate: suspended -> active
All goals stable
exp: not executing sciopp executing [s2]
Beliefs: rock_analysed active(sciopp) reconsider(return) done stable_position nearly_dusk suspended(exp) rock_seen current_charge(78) calm_weather activate(return) 
Goals: exp: suspended [p4] || sciopp: active [] || return: pending empty || battery: monitoring empty || 
-----------------------------------------------------
Event (17)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: rock_analysed active(sciopp) reconsider(return) done stable_position nearly_dusk suspended(exp) rock_seen current_charge(78) calm_weather activate(return) 
Goals: exp: suspended [p4] || sciopp: active [] || return: pending empty || battery: monitoring empty || 
Goal sciopp drop: active -> dropped
All goals stable
exp: not executing return: not executing battery: not executing 
Beliefs: rock_analysed reconsider(return) done stable_position nearly_dusk suspended(exp) rock_seen current_charge(78) calm_weather activate(return) 
Goals: exp: suspended [p4] || return: pending empty || battery: monitoring empty || 
-----------------------------------------------------
Event (18)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: reconsider(return) reactivate(exp) rock_analysed reconsider(return) done stable_position nearly_dusk suspended(exp) rock_seen current_charge(78) calm_weather activate(return) 
Goals: exp: suspended [p4] || return: pending empty || battery: monitoring empty || 
Goal exp reactivate: suspended -> active
All goals stable
exp executing [p4]
Beliefs: experiments_done current_charge(58) active(exp) reconsider(return) rock_analysed reconsider(return) done stable_position nearly_dusk rock_seen calm_weather activate(return) 
Goals: exp: active [] || return: pending empty || battery: monitoring empty || 
-----------------------------------------------------
Event (19)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: experiments_done current_charge(58) active(exp) reconsider(return) rock_analysed reconsider(return) done stable_position nearly_dusk rock_seen calm_weather activate(return) 
Goals: exp: active [] || return: pending empty || battery: monitoring empty || 
Goal exp drop: active -> dropped
All goals stable
return: not executing battery: not executing 
Beliefs: experiments_done current_charge(58) reconsider(return) rock_analysed reconsider(return) done stable_position nearly_dusk rock_seen calm_weather activate(return) 
Goals: return: pending empty || battery: monitoring empty || 
-----------------------------------------------------
Event (20)? ([]. for no change, [halt]. to halt): Checking goals for state changes ... 
Beliefs: experiments_done current_charge(58) reconsider(return) rock_analysed reconsider(return) done stable_position nearly_dusk rock_seen calm_weather activate(return) 
Goals: return: pending empty || battery: monitoring empty || 
All goals stable
return: not executing battery: not executing 
Beliefs: experiments_done current_charge(58) reconsider(return) rock_analysed reconsider(return) done stable_position nearly_dusk rock_seen calm_weather activate(return) 
Goals: return: pending empty || battery: monitoring empty || 
-----------------------------------------------------
Event (21)? ([]. for no change, [halt]. to halt): Halt event detected
Beliefs: experiments_done current_charge(58) reconsider(return) rock_analysed reconsider(return) done stable_position nearly_dusk rock_seen calm_weather activate(return) 
Goals: return: pending empty || battery: monitoring empty ||