Exploring commences ... 
-----------------------------------------------------
0: Events are [start7,thermal(rock1),spectral(target1),spectral(target2),spectral(target3),spectral(target4)]
Beliefs: [spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),memory_count(0),time_count(0),battery_charge(32),at(red1),activate(explore(red1)),activate(recharge),activate(memory),activate(exp(rock1)),activate(position(rock1)),activate(measuret(rock1)),activate(traverse(rock1,canyon)),activate(survey(canyon)),activate(exp(target1)),activate(exp(target2)),activate(exp(target3)),activate(exp(target4)),activate(measures(target1)),activate(measures(target2)),activate(measures(target3)),activate(measures(target4)),activate(id_targets(canyon)),activate(position(target1)),activate(position(target2)),activate(position(target3)),activate(position(target4))]
Goal and Plans: [[goal(explore(red1))]##[[goal(recharge)]##[goal(memory)]]]

Goal explore(red1) made pending
Goal recharge made pending
Goal memory made pending
Goal explore(red1) activate: pending -> active
Goal recharge activate: pending -> monitoring
Goal memory activate: pending -> monitoring
No more goal changes
Completeness report: 
Beliefs: [active(explore(red1)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),memory_count(0),time_count(0),battery_charge(32),at(red1),activate(exp(rock1)),activate(position(rock1)),activate(measuret(rock1)),activate(traverse(rock1,canyon)),activate(survey(canyon)),activate(exp(target1)),activate(exp(target2)),activate(exp(target3)),activate(exp(target4)),activate(measures(target1)),activate(measures(target2)),activate(measures(target3)),activate(measures(target4)),activate(id_targets(canyon)),activate(position(target1)),activate(position(target2)),activate(position(target3)),activate(position(target4))]
Goal and Plans: [[g(explore(red1),active,[g(exp(rock1),pending,empty),g(traverse(rock1,canyon),pending,empty),g(survey(canyon),pending,empty)])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Thermal branch for exp(rock1)
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,4),res(memory,230),res(time,880),res(energy,55)] PR: [res(drill,4),res(memory,230),res(time,1850),res(energy,90)] 
 CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Found goal exp(rock1) in state
Found goal traverse(rock1,canyon) in state
Found goal survey(canyon) in state
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
1: Events are []
Beliefs: [active(explore(red1)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),memory_count(0),time_count(0),battery_charge(32),at(red1),activate(exp(rock1)),activate(position(rock1)),activate(measuret(rock1)),activate(traverse(rock1,canyon)),activate(survey(canyon)),activate(exp(target1)),activate(exp(target2)),activate(exp(target3)),activate(exp(target4)),activate(measures(target1)),activate(measures(target2)),activate(measures(target3)),activate(measures(target4)),activate(id_targets(canyon)),activate(position(target1)),activate(position(target2)),activate(position(target3)),activate(position(target4))]
Goal and Plans: [[g(explore(red1),active,[g(exp(rock1),pending,empty),g(traverse(rock1,canyon),pending,empty),g(survey(canyon),pending,empty)])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Goal exp(rock1) activate: pending -> active
Goal traverse(rock1,canyon) activate: pending -> active
Goal survey(canyon) activate: pending -> active
No more goal changes
Completeness report: 
Beliefs: [active(survey(canyon)),active(traverse(rock1,canyon)),active(exp(rock1)),active(explore(red1)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),memory_count(0),time_count(0),battery_charge(32),at(red1),activate(position(rock1)),activate(measuret(rock1)),activate(exp(target1)),activate(exp(target2)),activate(exp(target3)),activate(exp(target4)),activate(measures(target1)),activate(measures(target2)),activate(measures(target3)),activate(measures(target4)),activate(id_targets(canyon)),activate(position(target1)),activate(position(target2)),activate(position(target3)),activate(position(target4))]
Goal and Plans: [[g(explore(red1),active,[g(exp(rock1),active,[g(position(rock1),pending,empty),g(measuret(rock1),pending,empty)]),g(traverse(rock1,canyon),active,[traverseaction(rock1,canyon)]),g(survey(canyon),active,[g(id_targets(canyon),pending,empty),g(exp(target1),pending,empty),g(exp(target2),pending,empty),g(exp(target3),pending,empty),g(exp(target4),pending,empty)])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Thermal branch for exp(rock1)
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,4),res(memory,230),res(time,880),res(energy,55)] PR: [res(drill,4),res(memory,230),res(time,1850),res(energy,90)] 
 CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Thermal branch for exp(rock1)
Ignoring effect eff(arm_positioned(rock1),0)
exp(rock1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,50),res(time,80),res(energy,6)] PR: [res(drill,0),res(memory,50),res(time,210),res(energy,12)] 
 CE: [eff(arm_positioned(rock1),0),eff(measured(rock1),0)]  S: [eff(measured(rock1),1)] DE: [eff(arm_positioned(rock1),1),eff(measured(rock1),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0)] 
Found goal position(rock1) in state
Found goal measuret(rock1) in state
traverse(rock1,canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,100),res(energy,5)] PR: [res(drill,0),res(memory,0),res(time,300),res(energy,10)] 
 CE: [eff(at(canyon),0)]  S: [eff(at(canyon),1)] DE: [eff(at(canyon),1)] PE: [] CPE: [] 
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,4),res(memory,180),res(time,700),res(energy,44)] PR: [res(drill,4),res(memory,180),res(time,1340),res(energy,68)] 
 CE: [eff(targetlist(canyon),0),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Found goal id_targets(canyon) in state
Found goal exp(target1) in state
Found goal exp(target2) in state
Found goal exp(target3) in state
Found goal exp(target4) in state
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
2: Events are []
Beliefs: [active(survey(canyon)),active(traverse(rock1,canyon)),active(exp(rock1)),active(explore(red1)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),memory_count(0),time_count(0),battery_charge(32),at(red1),activate(position(rock1)),activate(measuret(rock1)),activate(exp(target1)),activate(exp(target2)),activate(exp(target3)),activate(exp(target4)),activate(measures(target1)),activate(measures(target2)),activate(measures(target3)),activate(measures(target4)),activate(id_targets(canyon)),activate(position(target1)),activate(position(target2)),activate(position(target3)),activate(position(target4))]
Goal and Plans: [[g(explore(red1),active,[g(exp(rock1),active,[g(position(rock1),pending,empty),g(measuret(rock1),pending,empty)]),g(traverse(rock1,canyon),active,[traverseaction(rock1,canyon)]),g(survey(canyon),active,[g(id_targets(canyon),pending,empty),g(exp(target1),pending,empty),g(exp(target2),pending,empty),g(exp(target3),pending,empty),g(exp(target4),pending,empty)])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Goal position(rock1) activate: pending -> active
Goal measuret(rock1) activate: pending -> active
Goal id_targets(canyon) activate: pending -> active
Goal exp(target1) activate: pending -> active
Goal exp(target2) activate: pending -> active
Goal exp(target3) activate: pending -> active
Goal exp(target4) activate: pending -> active
No more goal changes

3: Performed action positionarm(rock1)
Completeness report: 
Beliefs: [battery_charge(29),arm_positioned(rock1),time_count(120),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(id_targets(canyon)),active(measuret(rock1)),active(position(rock1)),active(survey(canyon)),active(traverse(rock1,canyon)),active(exp(rock1)),active(explore(red1)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),memory_count(0),at(red1),activate(measures(target1)),activate(measures(target2)),activate(measures(target3)),activate(measures(target4)),activate(position(target1)),activate(position(target2)),activate(position(target3)),activate(position(target4))]
Goal and Plans: [[g(explore(red1),active,[g(exp(rock1),active,[g(position(rock1),active,[]),g(measuret(rock1),active,[measurementt(rock1)])]),g(traverse(rock1,canyon),active,[traverseaction(rock1,canyon)]),g(survey(canyon),active,[g(id_targets(canyon),active,[panoramic_process(canyon)]),g(exp(target1),active,[g(position(target1),pending,empty),g(measures(target1),pending,empty)]),g(exp(target2),active,[g(position(target2),pending,empty),g(measures(target2),pending,empty)]),g(exp(target3),active,[g(position(target3),pending,empty),g(measures(target3),pending,empty)]),g(exp(target4),active,[g(position(target4),pending,empty),g(measures(target4),pending,empty)])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Thermal branch for exp(rock1)
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,4),res(memory,230),res(time,880),res(energy,55)] PR: [res(drill,4),res(memory,230),res(time,1850),res(energy,90)] 
 CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Thermal branch for exp(rock1)
Ignoring effect eff(arm_positioned(rock1),1)
exp(rock1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 50.0%  PE: 25.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,50),res(time,80),res(energy,6)] PR: [res(drill,0),res(memory,50),res(time,210),res(energy,12)] 
 CE: [eff(arm_positioned(rock1),1),eff(measured(rock1),0)]  S: [eff(measured(rock1),1)] DE: [eff(arm_positioned(rock1),1),eff(measured(rock1),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0)] 
position(rock1): DRC: 0.0%  PRC: 0.0% SC: 100.0%  DE: 100.0%  PE: 100.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(rock1),1)]  S: [eff(arm_positioned(rock1),1)] DE: [eff(arm_positioned(rock1),1)] PE: [] CPE: [] 
Ignoring effect eff(thermal_profile(rock1),0)
measuret(rock1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,50),res(time,20),res(energy,4)] PR: [res(drill,0),res(memory,50),res(time,30),res(energy,8)] 
 CE: [eff(measured(rock1),0),eff(thermal_profile(rock1),0)]  S: [eff(measured(rock1),1)] DE: [eff(measured(rock1),1),eff(thermal_profile(rock1),1)] PE: [] CPE: [] 
traverse(rock1,canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,100),res(energy,5)] PR: [res(drill,0),res(memory,0),res(time,300),res(energy,10)] 
 CE: [eff(at(canyon),0)]  S: [eff(at(canyon),1)] DE: [eff(at(canyon),1)] PE: [] CPE: [] 
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,4),res(memory,180),res(time,700),res(energy,44)] PR: [res(drill,4),res(memory,180),res(time,1340),res(energy,68)] 
 CE: [eff(targetlist(canyon),0),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
id_targets(canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,100),res(time,300),res(energy,20)] PR: [res(drill,0),res(memory,100),res(time,300),res(energy,20)] 
 CE: [eff(targetlist(canyon),0)]  S: [eff(targetlist(canyon),1)] DE: [eff(targetlist(canyon),1)] PE: [] CPE: [] 
Spectral branch for exp(target1)
Ignoring effect eff(arm_positioned(target1),0)
exp(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target1),0),eff(measured(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(arm_positioned(target1),1),eff(measured(target1),1)] PE: [eff(spectral_profile(target1),1),eff(thermal_profile(target1),1)] CPE: [eff(spectral_profile(target1),0),eff(thermal_profile(target1),0)] 
Found goal position(target1) in state
Found goal measures(target1) in state
Spectral branch for exp(target2)
Ignoring effect eff(arm_positioned(target2),0)
exp(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target2),0),eff(measured(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(arm_positioned(target2),1),eff(measured(target2),1)] PE: [eff(spectral_profile(target2),1),eff(thermal_profile(target2),1)] CPE: [eff(spectral_profile(target2),0),eff(thermal_profile(target2),0)] 
Found goal position(target2) in state
Found goal measures(target2) in state
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),0)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),0),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
Found goal position(target3) in state
Found goal measures(target3) in state
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
Found goal position(target4) in state
Found goal measures(target4) in state
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
3: Events are []
Beliefs: [battery_charge(29),arm_positioned(rock1),time_count(120),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(id_targets(canyon)),active(measuret(rock1)),active(position(rock1)),active(survey(canyon)),active(traverse(rock1,canyon)),active(exp(rock1)),active(explore(red1)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),memory_count(0),at(red1),activate(measures(target1)),activate(measures(target2)),activate(measures(target3)),activate(measures(target4)),activate(position(target1)),activate(position(target2)),activate(position(target3)),activate(position(target4))]
Goal and Plans: [[g(explore(red1),active,[g(exp(rock1),active,[g(position(rock1),active,[]),g(measuret(rock1),active,[measurementt(rock1)])]),g(traverse(rock1,canyon),active,[traverseaction(rock1,canyon)]),g(survey(canyon),active,[g(id_targets(canyon),active,[panoramic_process(canyon)]),g(exp(target1),active,[g(position(target1),pending,empty),g(measures(target1),pending,empty)]),g(exp(target2),active,[g(position(target2),pending,empty),g(measures(target2),pending,empty)]),g(exp(target3),active,[g(position(target3),pending,empty),g(measures(target3),pending,empty)]),g(exp(target4),active,[g(position(target4),pending,empty),g(measures(target4),pending,empty)])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Goal position(rock1) drop: active -> dropped
Goal position(target1) activate: pending -> active
Goal measures(target1) activate: pending -> active
Goal position(target2) activate: pending -> active
Goal measures(target2) activate: pending -> active
Goal position(target3) activate: pending -> active
Goal measures(target3) activate: pending -> active
Goal position(target4) activate: pending -> active
Goal measures(target4) activate: pending -> active
Goal recharge respond: monitoring -> active
Chosen goal is pauseAndRecharge
Goal explore(red1) suspend: active -> suspended
Goal pauseAndRecharge made pending
Goal pauseAndRecharge activate: pending -> active
No more goal changes

4: Performed action charge_battery
Completeness report: 
Beliefs: [battery_charge(100),time_count(333),memory_count(100),active(pauseAndRecharge),suspended(explore(red1)),active(recharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(id_targets(canyon)),active(measuret(rock1)),active(survey(canyon)),active(traverse(rock1,canyon)),active(exp(rock1)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),suspended,[g(exp(rock1),active,[nil,g(measuret(rock1),active,[measurementt(rock1)])]),g(traverse(rock1,canyon),active,[traverseaction(rock1,canyon)]),g(survey(canyon),active,[g(id_targets(canyon),active,[panoramic_process(canyon)]),g(exp(target1),active,[g(position(target1),active,empty),g(measures(target1),active,empty)]),g(exp(target2),active,[g(position(target2),active,empty),g(measures(target2),active,empty)]),g(exp(target3),active,[g(position(target3),active,empty),g(measures(target3),active,empty)]),g(exp(target4),active,[g(position(target4),active,empty),g(measures(target4),active,empty)])])])]##[[g(recharge,active,[g(pauseAndRecharge,active,[])])]##[g(memory,monitoring,empty)]]]

Thermal branch for exp(rock1)
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 4.5%  PRC: 2.5% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,120),res(energy,3)] DR: [res(drill,4),res(memory,230),res(time,820),res(energy,53)] PR: [res(drill,4),res(memory,230),res(time,1670),res(energy,86)] 
 CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Thermal branch for exp(rock1)
Ignoring effect eff(arm_positioned(rock1),1)
exp(rock1): DRC: 42.9%  PRC: 35.8% SC: 0.0%  DE: 50.0%  PE: 25.0%
 CR: [res(drill,0),res(memory,0),res(time,120),res(energy,3)] DR: [res(drill,0),res(memory,50),res(time,20),res(energy,4)] PR: [res(drill,0),res(memory,50),res(time,30),res(energy,8)] 
 CE: [eff(arm_positioned(rock1),1),eff(measured(rock1),0)]  S: [eff(measured(rock1),1)] DE: [eff(arm_positioned(rock1),1),eff(measured(rock1),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0)] 
Ignoring effect eff(thermal_profile(rock1),0)
measuret(rock1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,50),res(time,20),res(energy,4)] PR: [res(drill,0),res(memory,50),res(time,30),res(energy,8)] 
 CE: [eff(measured(rock1),0),eff(thermal_profile(rock1),0)]  S: [eff(measured(rock1),1)] DE: [eff(measured(rock1),1),eff(thermal_profile(rock1),1)] PE: [] CPE: [] 
traverse(rock1,canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,100),res(energy,5)] PR: [res(drill,0),res(memory,0),res(time,300),res(energy,10)] 
 CE: [eff(at(canyon),0)]  S: [eff(at(canyon),1)] DE: [eff(at(canyon),1)] PE: [] CPE: [] 
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,4),res(memory,180),res(time,700),res(energy,44)] PR: [res(drill,4),res(memory,180),res(time,1340),res(energy,68)] 
 CE: [eff(targetlist(canyon),0),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
id_targets(canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,100),res(time,300),res(energy,20)] PR: [res(drill,0),res(memory,100),res(time,300),res(energy,20)] 
 CE: [eff(targetlist(canyon),0)]  S: [eff(targetlist(canyon),1)] DE: [eff(targetlist(canyon),1)] PE: [] CPE: [] 
Spectral branch for exp(target1)
Ignoring effect eff(arm_positioned(target1),0)
exp(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target1),0),eff(measured(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(arm_positioned(target1),1),eff(measured(target1),1)] PE: [eff(spectral_profile(target1),1),eff(thermal_profile(target1),1)] CPE: [eff(spectral_profile(target1),0),eff(thermal_profile(target1),0)] 
position(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target1),0)]  S: [eff(arm_positioned(target1),1)] DE: [eff(arm_positioned(target1),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target1),0)
measures(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target1),0),eff(spectral_profile(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(measured(target1),1),eff(spectral_profile(target1),1)] PE: [] CPE: [] 
Spectral branch for exp(target2)
Ignoring effect eff(arm_positioned(target2),0)
exp(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target2),0),eff(measured(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(arm_positioned(target2),1),eff(measured(target2),1)] PE: [eff(spectral_profile(target2),1),eff(thermal_profile(target2),1)] CPE: [eff(spectral_profile(target2),0),eff(thermal_profile(target2),0)] 
position(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target2),0)]  S: [eff(arm_positioned(target2),1)] DE: [eff(arm_positioned(target2),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target2),0)
measures(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target2),0),eff(spectral_profile(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(measured(target2),1),eff(spectral_profile(target2),1)] PE: [] CPE: [] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),0)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),0),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
position(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target3),0)]  S: [eff(arm_positioned(target3),1)] DE: [eff(arm_positioned(target3),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
recharge: DRC: 0.0%  PRC: 0.0% SC: 100.0%  DE: 100.0%  PE: 100.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,50),res(time,10),res(energy,0)] PR: [res(drill,0),res(memory,150),res(time,300),res(energy,0)] 
 CE: [eff(battery_charge(100),1)]  S: [eff(battery_charge(100),1)] DE: [eff(battery_charge(100),1)] PE: [] CPE: [] 
pauseAndRecharge: DRC: 0.0%  PRC: 0.0% SC: 100.0%  DE: 100.0%  PE: 100.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,50),res(time,10),res(energy,0)] PR: [res(drill,0),res(memory,150),res(time,300),res(energy,0)] 
 CE: [eff(battery_charge(100),1)]  S: [eff(battery_charge(100),1)] DE: [eff(battery_charge(100),1)] PE: [] CPE: [] 
Found goal memory in state
-----------------------------------------------------
4: Events are []
Beliefs: [battery_charge(100),time_count(333),memory_count(100),active(pauseAndRecharge),suspended(explore(red1)),active(recharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(id_targets(canyon)),active(measuret(rock1)),active(survey(canyon)),active(traverse(rock1,canyon)),active(exp(rock1)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),suspended,[g(exp(rock1),active,[nil,g(measuret(rock1),active,[measurementt(rock1)])]),g(traverse(rock1,canyon),active,[traverseaction(rock1,canyon)]),g(survey(canyon),active,[g(id_targets(canyon),active,[panoramic_process(canyon)]),g(exp(target1),active,[g(position(target1),active,empty),g(measures(target1),active,empty)]),g(exp(target2),active,[g(position(target2),active,empty),g(measures(target2),active,empty)]),g(exp(target3),active,[g(position(target3),active,empty),g(measures(target3),active,empty)]),g(exp(target4),active,[g(position(target4),active,empty),g(measures(target4),active,empty)])])])]##[[g(recharge,active,[g(pauseAndRecharge,active,[])])]##[g(memory,monitoring,empty)]]]

Goal recharge reactivate: active -> monitoring
Goal explore(red1) reactivate: suspended -> active
No more goal changes

5: nil plan succeeded
Completeness report: 
Beliefs: [active(explore(red1)),battery_charge(100),time_count(333),memory_count(100),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(id_targets(canyon)),active(measuret(rock1)),active(survey(canyon)),active(traverse(rock1,canyon)),active(exp(rock1)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(exp(rock1),active,[g(measuret(rock1),active,[measurementt(rock1)])]),g(traverse(rock1,canyon),active,[traverseaction(rock1,canyon)]),g(survey(canyon),active,[g(id_targets(canyon),active,[panoramic_process(canyon)]),g(exp(target1),active,[g(position(target1),active,[positionarm(target1)]),g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Thermal branch for exp(rock1)
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 4.5%  PRC: 2.5% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,120),res(energy,3)] DR: [res(drill,4),res(memory,230),res(time,820),res(energy,53)] PR: [res(drill,4),res(memory,230),res(time,1670),res(energy,86)] 
 CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Thermal branch for exp(rock1)
Ignoring effect eff(arm_positioned(rock1),1)
exp(rock1): DRC: 42.9%  PRC: 35.8% SC: 0.0%  DE: 50.0%  PE: 25.0%
 CR: [res(drill,0),res(memory,0),res(time,120),res(energy,3)] DR: [res(drill,0),res(memory,50),res(time,20),res(energy,4)] PR: [res(drill,0),res(memory,50),res(time,30),res(energy,8)] 
 CE: [eff(arm_positioned(rock1),1),eff(measured(rock1),0)]  S: [eff(measured(rock1),1)] DE: [eff(arm_positioned(rock1),1),eff(measured(rock1),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),0)] 
Ignoring effect eff(thermal_profile(rock1),0)
measuret(rock1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,50),res(time,20),res(energy,4)] PR: [res(drill,0),res(memory,50),res(time,30),res(energy,8)] 
 CE: [eff(measured(rock1),0),eff(thermal_profile(rock1),0)]  S: [eff(measured(rock1),1)] DE: [eff(measured(rock1),1),eff(thermal_profile(rock1),1)] PE: [] CPE: [] 
traverse(rock1,canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,100),res(energy,5)] PR: [res(drill,0),res(memory,0),res(time,300),res(energy,10)] 
 CE: [eff(at(canyon),0)]  S: [eff(at(canyon),1)] DE: [eff(at(canyon),1)] PE: [] CPE: [] 
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,4),res(memory,180),res(time,700),res(energy,44)] PR: [res(drill,4),res(memory,180),res(time,1340),res(energy,68)] 
 CE: [eff(targetlist(canyon),0),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
id_targets(canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,100),res(time,300),res(energy,20)] PR: [res(drill,0),res(memory,100),res(time,300),res(energy,20)] 
 CE: [eff(targetlist(canyon),0)]  S: [eff(targetlist(canyon),1)] DE: [eff(targetlist(canyon),1)] PE: [] CPE: [] 
Spectral branch for exp(target1)
Ignoring effect eff(arm_positioned(target1),0)
exp(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target1),0),eff(measured(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(arm_positioned(target1),1),eff(measured(target1),1)] PE: [eff(spectral_profile(target1),1),eff(thermal_profile(target1),1)] CPE: [eff(spectral_profile(target1),0),eff(thermal_profile(target1),0)] 
position(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target1),0)]  S: [eff(arm_positioned(target1),1)] DE: [eff(arm_positioned(target1),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target1),0)
measures(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target1),0),eff(spectral_profile(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(measured(target1),1),eff(spectral_profile(target1),1)] PE: [] CPE: [] 
Spectral branch for exp(target2)
Ignoring effect eff(arm_positioned(target2),0)
exp(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target2),0),eff(measured(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(arm_positioned(target2),1),eff(measured(target2),1)] PE: [eff(spectral_profile(target2),1),eff(thermal_profile(target2),1)] CPE: [eff(spectral_profile(target2),0),eff(thermal_profile(target2),0)] 
position(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target2),0)]  S: [eff(arm_positioned(target2),1)] DE: [eff(arm_positioned(target2),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target2),0)
measures(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target2),0),eff(spectral_profile(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(measured(target2),1),eff(spectral_profile(target2),1)] PE: [] CPE: [] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),0)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),0),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
position(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target3),0)]  S: [eff(arm_positioned(target3),1)] DE: [eff(arm_positioned(target3),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
5: Events are []
Beliefs: [active(explore(red1)),battery_charge(100),time_count(333),memory_count(100),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(id_targets(canyon)),active(measuret(rock1)),active(survey(canyon)),active(traverse(rock1,canyon)),active(exp(rock1)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(exp(rock1),active,[g(measuret(rock1),active,[measurementt(rock1)])]),g(traverse(rock1,canyon),active,[traverseaction(rock1,canyon)]),g(survey(canyon),active,[g(id_targets(canyon),active,[panoramic_process(canyon)]),g(exp(target1),active,[g(position(target1),active,[positionarm(target1)]),g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

No more goal changes

6: Performed action measurementt(rock1)
Completeness report: 
Beliefs: [thermal_profile(rock1),battery_charge(95),time_count(358),memory_count(150),active(explore(red1)),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(id_targets(canyon)),active(measuret(rock1)),active(survey(canyon)),active(traverse(rock1,canyon)),active(exp(rock1)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(exp(rock1),active,[g(measuret(rock1),active,[])]),g(traverse(rock1,canyon),active,[traverseaction(rock1,canyon)]),g(survey(canyon),active,[g(id_targets(canyon),active,[panoramic_process(canyon)]),g(exp(target1),active,[g(position(target1),active,[positionarm(target1)]),g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Thermal branch for exp(rock1)
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 4.5%  PRC: 2.5% SC: 25.0%  DE: 25.0%  PE: 25.0%
 CR: [res(drill,0),res(memory,0),res(time,120),res(energy,3)] DR: [res(drill,4),res(memory,230),res(time,820),res(energy,53)] PR: [res(drill,4),res(memory,230),res(time,1670),res(energy,86)] 
 CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Thermal branch for exp(rock1)
Ignoring effect eff(arm_positioned(rock1),1)
exp(rock1): DRC: 42.9%  PRC: 35.8% SC: 100.0%  DE: 100.0%  PE: 75.0%
 CR: [res(drill,0),res(memory,0),res(time,120),res(energy,3)] DR: [res(drill,0),res(memory,50),res(time,20),res(energy,4)] PR: [res(drill,0),res(memory,50),res(time,30),res(energy,8)] 
 CE: [eff(arm_positioned(rock1),1),eff(measured(rock1),1)]  S: [eff(measured(rock1),1)] DE: [eff(arm_positioned(rock1),1),eff(measured(rock1),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1)] 
Ignoring effect eff(thermal_profile(rock1),1)
measuret(rock1): DRC: 0.0%  PRC: 0.0% SC: 100.0%  DE: 100.0%  PE: 100.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,50),res(time,20),res(energy,4)] PR: [res(drill,0),res(memory,50),res(time,30),res(energy,8)] 
 CE: [eff(measured(rock1),1),eff(thermal_profile(rock1),1)]  S: [eff(measured(rock1),1)] DE: [eff(measured(rock1),1),eff(thermal_profile(rock1),1)] PE: [] CPE: [] 
traverse(rock1,canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,100),res(energy,5)] PR: [res(drill,0),res(memory,0),res(time,300),res(energy,10)] 
 CE: [eff(at(canyon),0)]  S: [eff(at(canyon),1)] DE: [eff(at(canyon),1)] PE: [] CPE: [] 
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,4),res(memory,180),res(time,700),res(energy,44)] PR: [res(drill,4),res(memory,180),res(time,1340),res(energy,68)] 
 CE: [eff(targetlist(canyon),0),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
id_targets(canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,100),res(time,300),res(energy,20)] PR: [res(drill,0),res(memory,100),res(time,300),res(energy,20)] 
 CE: [eff(targetlist(canyon),0)]  S: [eff(targetlist(canyon),1)] DE: [eff(targetlist(canyon),1)] PE: [] CPE: [] 
Spectral branch for exp(target1)
Ignoring effect eff(arm_positioned(target1),0)
exp(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target1),0),eff(measured(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(arm_positioned(target1),1),eff(measured(target1),1)] PE: [eff(spectral_profile(target1),1),eff(thermal_profile(target1),1)] CPE: [eff(spectral_profile(target1),0),eff(thermal_profile(target1),0)] 
position(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target1),0)]  S: [eff(arm_positioned(target1),1)] DE: [eff(arm_positioned(target1),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target1),0)
measures(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target1),0),eff(spectral_profile(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(measured(target1),1),eff(spectral_profile(target1),1)] PE: [] CPE: [] 
Spectral branch for exp(target2)
Ignoring effect eff(arm_positioned(target2),0)
exp(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target2),0),eff(measured(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(arm_positioned(target2),1),eff(measured(target2),1)] PE: [eff(spectral_profile(target2),1),eff(thermal_profile(target2),1)] CPE: [eff(spectral_profile(target2),0),eff(thermal_profile(target2),0)] 
position(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target2),0)]  S: [eff(arm_positioned(target2),1)] DE: [eff(arm_positioned(target2),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target2),0)
measures(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target2),0),eff(spectral_profile(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(measured(target2),1),eff(spectral_profile(target2),1)] PE: [] CPE: [] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),0)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),0),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
position(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target3),0)]  S: [eff(arm_positioned(target3),1)] DE: [eff(arm_positioned(target3),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
6: Events are []
Beliefs: [thermal_profile(rock1),battery_charge(95),time_count(358),memory_count(150),active(explore(red1)),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(id_targets(canyon)),active(measuret(rock1)),active(survey(canyon)),active(traverse(rock1,canyon)),active(exp(rock1)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(exp(rock1),active,[g(measuret(rock1),active,[])]),g(traverse(rock1,canyon),active,[traverseaction(rock1,canyon)]),g(survey(canyon),active,[g(id_targets(canyon),active,[panoramic_process(canyon)]),g(exp(target1),active,[g(position(target1),active,[positionarm(target1)]),g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Goal exp(rock1) drop: active -> dropped
No more goal changes

7: nil plan succeeded
Completeness report: 
Beliefs: [completed(exp(rock1)),thermal_profile(rock1),battery_charge(95),time_count(358),memory_count(150),active(explore(red1)),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(id_targets(canyon)),active(measuret(rock1)),active(survey(canyon)),active(traverse(rock1,canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(traverse(rock1,canyon),active,[traverseaction(rock1,canyon)]),g(survey(canyon),active,[g(id_targets(canyon),active,[panoramic_process(canyon)]),g(exp(target1),active,[g(position(target1),active,[positionarm(target1)]),g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 12.8%  PRC: 9.8% SC: 25.0%  DE: 25.0%  PE: 25.0%
 CR: [res(drill,0),res(memory,50),res(time,145),res(energy,8)] DR: [res(drill,4),res(memory,180),res(time,800),res(energy,49)] PR: [res(drill,4),res(memory,180),res(time,1640),res(energy,78)] 
 CE: [eff(targetlist(canyon),0),eff(at(canyon),0),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
traverse(rock1,canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,100),res(energy,5)] PR: [res(drill,0),res(memory,0),res(time,300),res(energy,10)] 
 CE: [eff(at(canyon),0)]  S: [eff(at(canyon),1)] DE: [eff(at(canyon),1)] PE: [] CPE: [] 
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,4),res(memory,180),res(time,700),res(energy,44)] PR: [res(drill,4),res(memory,180),res(time,1340),res(energy,68)] 
 CE: [eff(targetlist(canyon),0),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
id_targets(canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,100),res(time,300),res(energy,20)] PR: [res(drill,0),res(memory,100),res(time,300),res(energy,20)] 
 CE: [eff(targetlist(canyon),0)]  S: [eff(targetlist(canyon),1)] DE: [eff(targetlist(canyon),1)] PE: [] CPE: [] 
Spectral branch for exp(target1)
Ignoring effect eff(arm_positioned(target1),0)
exp(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target1),0),eff(measured(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(arm_positioned(target1),1),eff(measured(target1),1)] PE: [eff(spectral_profile(target1),1),eff(thermal_profile(target1),1)] CPE: [eff(spectral_profile(target1),0),eff(thermal_profile(target1),0)] 
position(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target1),0)]  S: [eff(arm_positioned(target1),1)] DE: [eff(arm_positioned(target1),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target1),0)
measures(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target1),0),eff(spectral_profile(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(measured(target1),1),eff(spectral_profile(target1),1)] PE: [] CPE: [] 
Spectral branch for exp(target2)
Ignoring effect eff(arm_positioned(target2),0)
exp(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target2),0),eff(measured(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(arm_positioned(target2),1),eff(measured(target2),1)] PE: [eff(spectral_profile(target2),1),eff(thermal_profile(target2),1)] CPE: [eff(spectral_profile(target2),0),eff(thermal_profile(target2),0)] 
position(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target2),0)]  S: [eff(arm_positioned(target2),1)] DE: [eff(arm_positioned(target2),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target2),0)
measures(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target2),0),eff(spectral_profile(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(measured(target2),1),eff(spectral_profile(target2),1)] PE: [] CPE: [] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),0)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),0),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
position(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target3),0)]  S: [eff(arm_positioned(target3),1)] DE: [eff(arm_positioned(target3),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
7: Events are []
Beliefs: [completed(exp(rock1)),thermal_profile(rock1),battery_charge(95),time_count(358),memory_count(150),active(explore(red1)),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(id_targets(canyon)),active(measuret(rock1)),active(survey(canyon)),active(traverse(rock1,canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(traverse(rock1,canyon),active,[traverseaction(rock1,canyon)]),g(survey(canyon),active,[g(id_targets(canyon),active,[panoramic_process(canyon)]),g(exp(target1),active,[g(position(target1),active,[positionarm(target1)]),g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

No more goal changes

8: Performed action traverseaction(rock1,canyon)
Completeness report: 
Beliefs: [at(canyon),battery_charge(70),time_count(558),completed(exp(rock1)),thermal_profile(rock1),memory_count(150),active(explore(red1)),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(id_targets(canyon)),active(measuret(rock1)),active(survey(canyon)),active(traverse(rock1,canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(traverse(rock1,canyon),active,[]),g(survey(canyon),active,[g(id_targets(canyon),active,[panoramic_process(canyon)]),g(exp(target1),active,[g(position(target1),active,[positionarm(target1)]),g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 12.8%  PRC: 9.8% SC: 50.0%  DE: 50.0%  PE: 37.5%
 CR: [res(drill,0),res(memory,50),res(time,145),res(energy,8)] DR: [res(drill,4),res(memory,180),res(time,800),res(energy,49)] PR: [res(drill,4),res(memory,180),res(time,1640),res(energy,78)] 
 CE: [eff(targetlist(canyon),0),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
traverse(rock1,canyon): DRC: 0.0%  PRC: 0.0% SC: 100.0%  DE: 100.0%  PE: 100.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,100),res(energy,5)] PR: [res(drill,0),res(memory,0),res(time,300),res(energy,10)] 
 CE: [eff(at(canyon),1)]  S: [eff(at(canyon),1)] DE: [eff(at(canyon),1)] PE: [] CPE: [] 
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,4),res(memory,180),res(time,700),res(energy,44)] PR: [res(drill,4),res(memory,180),res(time,1340),res(energy,68)] 
 CE: [eff(targetlist(canyon),0),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
id_targets(canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,100),res(time,300),res(energy,20)] PR: [res(drill,0),res(memory,100),res(time,300),res(energy,20)] 
 CE: [eff(targetlist(canyon),0)]  S: [eff(targetlist(canyon),1)] DE: [eff(targetlist(canyon),1)] PE: [] CPE: [] 
Spectral branch for exp(target1)
Ignoring effect eff(arm_positioned(target1),0)
exp(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target1),0),eff(measured(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(arm_positioned(target1),1),eff(measured(target1),1)] PE: [eff(spectral_profile(target1),1),eff(thermal_profile(target1),1)] CPE: [eff(spectral_profile(target1),0),eff(thermal_profile(target1),0)] 
position(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target1),0)]  S: [eff(arm_positioned(target1),1)] DE: [eff(arm_positioned(target1),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target1),0)
measures(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target1),0),eff(spectral_profile(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(measured(target1),1),eff(spectral_profile(target1),1)] PE: [] CPE: [] 
Spectral branch for exp(target2)
Ignoring effect eff(arm_positioned(target2),0)
exp(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target2),0),eff(measured(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(arm_positioned(target2),1),eff(measured(target2),1)] PE: [eff(spectral_profile(target2),1),eff(thermal_profile(target2),1)] CPE: [eff(spectral_profile(target2),0),eff(thermal_profile(target2),0)] 
position(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target2),0)]  S: [eff(arm_positioned(target2),1)] DE: [eff(arm_positioned(target2),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target2),0)
measures(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target2),0),eff(spectral_profile(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(measured(target2),1),eff(spectral_profile(target2),1)] PE: [] CPE: [] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),0)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),0),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
position(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target3),0)]  S: [eff(arm_positioned(target3),1)] DE: [eff(arm_positioned(target3),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
8: Events are []
Beliefs: [at(canyon),battery_charge(70),time_count(558),completed(exp(rock1)),thermal_profile(rock1),memory_count(150),active(explore(red1)),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(id_targets(canyon)),active(measuret(rock1)),active(survey(canyon)),active(traverse(rock1,canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(traverse(rock1,canyon),active,[]),g(survey(canyon),active,[g(id_targets(canyon),active,[panoramic_process(canyon)]),g(exp(target1),active,[g(position(target1),active,[positionarm(target1)]),g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Goal traverse(rock1,canyon) drop: active -> dropped
No more goal changes

9: nil plan succeeded
Completeness report: 
Beliefs: [completed(traverse(rock1,canyon)),at(canyon),battery_charge(70),time_count(558),completed(exp(rock1)),thermal_profile(rock1),memory_count(150),active(explore(red1)),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(id_targets(canyon)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(id_targets(canyon),active,[panoramic_process(canyon)]),g(exp(target1),active,[g(position(target1),active,[positionarm(target1)]),g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 24.4%  PRC: 18.7% SC: 50.0%  DE: 50.0%  PE: 37.5%
 CR: [res(drill,0),res(memory,50),res(time,345),res(energy,33)] DR: [res(drill,4),res(memory,180),res(time,700),res(energy,44)] PR: [res(drill,4),res(memory,180),res(time,1340),res(energy,68)] 
 CE: [eff(targetlist(canyon),0),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,4),res(memory,180),res(time,700),res(energy,44)] PR: [res(drill,4),res(memory,180),res(time,1340),res(energy,68)] 
 CE: [eff(targetlist(canyon),0),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
id_targets(canyon): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,100),res(time,300),res(energy,20)] PR: [res(drill,0),res(memory,100),res(time,300),res(energy,20)] 
 CE: [eff(targetlist(canyon),0)]  S: [eff(targetlist(canyon),1)] DE: [eff(targetlist(canyon),1)] PE: [] CPE: [] 
Spectral branch for exp(target1)
Ignoring effect eff(arm_positioned(target1),0)
exp(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target1),0),eff(measured(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(arm_positioned(target1),1),eff(measured(target1),1)] PE: [eff(spectral_profile(target1),1),eff(thermal_profile(target1),1)] CPE: [eff(spectral_profile(target1),0),eff(thermal_profile(target1),0)] 
position(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target1),0)]  S: [eff(arm_positioned(target1),1)] DE: [eff(arm_positioned(target1),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target1),0)
measures(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target1),0),eff(spectral_profile(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(measured(target1),1),eff(spectral_profile(target1),1)] PE: [] CPE: [] 
Spectral branch for exp(target2)
Ignoring effect eff(arm_positioned(target2),0)
exp(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target2),0),eff(measured(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(arm_positioned(target2),1),eff(measured(target2),1)] PE: [eff(spectral_profile(target2),1),eff(thermal_profile(target2),1)] CPE: [eff(spectral_profile(target2),0),eff(thermal_profile(target2),0)] 
position(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target2),0)]  S: [eff(arm_positioned(target2),1)] DE: [eff(arm_positioned(target2),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target2),0)
measures(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target2),0),eff(spectral_profile(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(measured(target2),1),eff(spectral_profile(target2),1)] PE: [] CPE: [] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),0)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),0),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
position(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target3),0)]  S: [eff(arm_positioned(target3),1)] DE: [eff(arm_positioned(target3),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
9: Events are []
Beliefs: [completed(traverse(rock1,canyon)),at(canyon),battery_charge(70),time_count(558),completed(exp(rock1)),thermal_profile(rock1),memory_count(150),active(explore(red1)),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(id_targets(canyon)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(id_targets(canyon),active,[panoramic_process(canyon)]),g(exp(target1),active,[g(position(target1),active,[positionarm(target1)]),g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

No more goal changes

10: Performed action panoramic_process(canyon)
Completeness report: 
Beliefs: [targetlist(canyon),battery_charge(40),time_count(858),memory_count(250),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(explore(red1)),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(id_targets(canyon)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(id_targets(canyon),active,[]),g(exp(target1),active,[g(position(target1),active,[positionarm(target1)]),g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 24.4%  PRC: 18.7% SC: 75.0%  DE: 75.0%  PE: 50.0%
 CR: [res(drill,0),res(memory,50),res(time,345),res(energy,33)] DR: [res(drill,4),res(memory,180),res(time,700),res(energy,44)] PR: [res(drill,4),res(memory,180),res(time,1340),res(energy,68)] 
 CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 0.0%  PRC: 0.0% SC: 50.0%  DE: 33.3%  PE: 20.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,4),res(memory,180),res(time,700),res(energy,44)] PR: [res(drill,4),res(memory,180),res(time,1340),res(energy,68)] 
 CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
id_targets(canyon): DRC: 0.0%  PRC: 0.0% SC: 100.0%  DE: 100.0%  PE: 100.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,100),res(time,300),res(energy,20)] PR: [res(drill,0),res(memory,100),res(time,300),res(energy,20)] 
 CE: [eff(targetlist(canyon),1)]  S: [eff(targetlist(canyon),1)] DE: [eff(targetlist(canyon),1)] PE: [] CPE: [] 
Spectral branch for exp(target1)
Ignoring effect eff(arm_positioned(target1),0)
exp(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target1),0),eff(measured(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(arm_positioned(target1),1),eff(measured(target1),1)] PE: [eff(spectral_profile(target1),1),eff(thermal_profile(target1),1)] CPE: [eff(spectral_profile(target1),0),eff(thermal_profile(target1),0)] 
position(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target1),0)]  S: [eff(arm_positioned(target1),1)] DE: [eff(arm_positioned(target1),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target1),0)
measures(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target1),0),eff(spectral_profile(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(measured(target1),1),eff(spectral_profile(target1),1)] PE: [] CPE: [] 
Spectral branch for exp(target2)
Ignoring effect eff(arm_positioned(target2),0)
exp(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target2),0),eff(measured(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(arm_positioned(target2),1),eff(measured(target2),1)] PE: [eff(spectral_profile(target2),1),eff(thermal_profile(target2),1)] CPE: [eff(spectral_profile(target2),0),eff(thermal_profile(target2),0)] 
position(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target2),0)]  S: [eff(arm_positioned(target2),1)] DE: [eff(arm_positioned(target2),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target2),0)
measures(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target2),0),eff(spectral_profile(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(measured(target2),1),eff(spectral_profile(target2),1)] PE: [] CPE: [] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),0)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),0),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
position(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target3),0)]  S: [eff(arm_positioned(target3),1)] DE: [eff(arm_positioned(target3),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
10: Events are []
Beliefs: [targetlist(canyon),battery_charge(40),time_count(858),memory_count(250),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(explore(red1)),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(id_targets(canyon)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(id_targets(canyon),active,[]),g(exp(target1),active,[g(position(target1),active,[positionarm(target1)]),g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Goal id_targets(canyon) drop: active -> dropped
Goal memory respond: monitoring -> active
Chosen goal is suspendGoals
Goal explore(red1) suspend: active -> suspended
Goal recharge respond: monitoring -> active
Chosen goal is pauseAndRecharge
Goal suspendGoals made pending
Goal pauseAndRecharge made pending
Goal suspendGoals activate: pending -> active
Goal pauseAndRecharge activate: pending -> active
No more goal changes

11: Performed action charge_battery
Completeness report: 
Beliefs: [battery_charge(100),time_count(1038),memory_count(350),active(suspendGoals),active(recharge),suspended(explore(red1)),active(memory),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),suspended,[g(survey(canyon),active,[nil,g(exp(target1),active,[g(position(target1),active,[positionarm(target1)]),g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,active,[g(pauseAndRecharge,active,[])])]##[g(memory,active,[g(suspendGoals,active,[inactive(recharge)::[nil]])])]]]

Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 49.8%  PRC: 40.1% SC: 75.0%  DE: 75.0%  PE: 50.0%
 CR: [res(drill,0),res(memory,150),res(time,645),res(energy,63)] DR: [res(drill,4),res(memory,80),res(time,400),res(energy,24)] PR: [res(drill,4),res(memory,80),res(time,1040),res(energy,48)] 
 CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 38.5%  PRC: 29.1% SC: 50.0%  DE: 33.3%  PE: 20.0%
 CR: [res(drill,0),res(memory,100),res(time,300),res(energy,30)] DR: [res(drill,4),res(memory,80),res(time,400),res(energy,24)] PR: [res(drill,4),res(memory,80),res(time,1040),res(energy,48)] 
 CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target1)
Ignoring effect eff(arm_positioned(target1),0)
exp(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target1),0),eff(measured(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(arm_positioned(target1),1),eff(measured(target1),1)] PE: [eff(spectral_profile(target1),1),eff(thermal_profile(target1),1)] CPE: [eff(spectral_profile(target1),0),eff(thermal_profile(target1),0)] 
position(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target1),0)]  S: [eff(arm_positioned(target1),1)] DE: [eff(arm_positioned(target1),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target1),0)
measures(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target1),0),eff(spectral_profile(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(measured(target1),1),eff(spectral_profile(target1),1)] PE: [] CPE: [] 
Spectral branch for exp(target2)
Ignoring effect eff(arm_positioned(target2),0)
exp(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target2),0),eff(measured(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(arm_positioned(target2),1),eff(measured(target2),1)] PE: [eff(spectral_profile(target2),1),eff(thermal_profile(target2),1)] CPE: [eff(spectral_profile(target2),0),eff(thermal_profile(target2),0)] 
position(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target2),0)]  S: [eff(arm_positioned(target2),1)] DE: [eff(arm_positioned(target2),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target2),0)
measures(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target2),0),eff(spectral_profile(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(measured(target2),1),eff(spectral_profile(target2),1)] PE: [] CPE: [] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),0)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),0),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
position(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target3),0)]  S: [eff(arm_positioned(target3),1)] DE: [eff(arm_positioned(target3),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
recharge: DRC: 0.0%  PRC: 0.0% SC: 100.0%  DE: 100.0%  PE: 100.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,50),res(time,10),res(energy,0)] PR: [res(drill,0),res(memory,150),res(time,300),res(energy,0)] 
 CE: [eff(battery_charge(100),1)]  S: [eff(battery_charge(100),1)] DE: [eff(battery_charge(100),1)] PE: [] CPE: [] 
pauseAndRecharge: DRC: 0.0%  PRC: 0.0% SC: 100.0%  DE: 100.0%  PE: 100.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,50),res(time,10),res(energy,0)] PR: [res(drill,0),res(memory,150),res(time,300),res(energy,0)] 
 CE: [eff(battery_charge(100),1)]  S: [eff(battery_charge(100),1)] DE: [eff(battery_charge(100),1)] PE: [] CPE: [] 
memory: DRC: --  PRC: -- SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [] DR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] PR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] 
 CE: [eff(memory_high,0)]  S: [eff(memory_high,1)] DE: [eff(memory_high,1)] PE: [] CPE: [] 
suspendGoals: DRC: --  PRC: -- SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [] DR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] PR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] 
 CE: [eff(memory_high,0)]  S: [eff(memory_high,1)] DE: [eff(memory_high,1)] PE: [] CPE: [] 
-----------------------------------------------------
11: Events are []
Beliefs: [battery_charge(100),time_count(1038),memory_count(350),active(suspendGoals),active(recharge),suspended(explore(red1)),active(memory),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),suspended,[g(survey(canyon),active,[nil,g(exp(target1),active,[g(position(target1),active,[positionarm(target1)]),g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,active,[g(pauseAndRecharge,active,[])])]##[g(memory,active,[g(suspendGoals,active,[inactive(recharge)::[nil]])])]]]

Goal recharge reactivate: active -> monitoring
Goal memory reactivate: active -> monitoring
Goal explore(red1) reactivate: suspended -> active
No more goal changes

12: nil plan succeeded
Completeness report: 
Beliefs: [active(explore(red1)),battery_charge(100),time_count(1038),memory_count(350),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target1),active,[g(position(target1),active,[positionarm(target1)]),g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 49.8%  PRC: 40.1% SC: 75.0%  DE: 75.0%  PE: 50.0%
 CR: [res(drill,0),res(memory,150),res(time,645),res(energy,63)] DR: [res(drill,4),res(memory,80),res(time,400),res(energy,24)] PR: [res(drill,4),res(memory,80),res(time,1040),res(energy,48)] 
 CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 38.5%  PRC: 29.1% SC: 50.0%  DE: 33.3%  PE: 20.0%
 CR: [res(drill,0),res(memory,100),res(time,300),res(energy,30)] DR: [res(drill,4),res(memory,80),res(time,400),res(energy,24)] PR: [res(drill,4),res(memory,80),res(time,1040),res(energy,48)] 
 CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target1)
Ignoring effect eff(arm_positioned(target1),0)
exp(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target1),0),eff(measured(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(arm_positioned(target1),1),eff(measured(target1),1)] PE: [eff(spectral_profile(target1),1),eff(thermal_profile(target1),1)] CPE: [eff(spectral_profile(target1),0),eff(thermal_profile(target1),0)] 
position(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target1),0)]  S: [eff(arm_positioned(target1),1)] DE: [eff(arm_positioned(target1),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target1),0)
measures(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target1),0),eff(spectral_profile(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(measured(target1),1),eff(spectral_profile(target1),1)] PE: [] CPE: [] 
Spectral branch for exp(target2)
Ignoring effect eff(arm_positioned(target2),0)
exp(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target2),0),eff(measured(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(arm_positioned(target2),1),eff(measured(target2),1)] PE: [eff(spectral_profile(target2),1),eff(thermal_profile(target2),1)] CPE: [eff(spectral_profile(target2),0),eff(thermal_profile(target2),0)] 
position(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target2),0)]  S: [eff(arm_positioned(target2),1)] DE: [eff(arm_positioned(target2),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target2),0)
measures(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target2),0),eff(spectral_profile(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(measured(target2),1),eff(spectral_profile(target2),1)] PE: [] CPE: [] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),0)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),0),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
position(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target3),0)]  S: [eff(arm_positioned(target3),1)] DE: [eff(arm_positioned(target3),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
12: Events are []
Beliefs: [active(explore(red1)),battery_charge(100),time_count(1038),memory_count(350),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target1),active,[g(position(target1),active,[positionarm(target1)]),g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

No more goal changes

13: Performed action positionarm(target1)
Completeness report: 
Beliefs: [battery_charge(97),arm_positioned(target1),time_count(1158),active(explore(red1)),memory_count(350),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target1),active,[g(position(target1),active,[]),g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 49.8%  PRC: 40.1% SC: 75.0%  DE: 75.0%  PE: 50.0%
 CR: [res(drill,0),res(memory,150),res(time,645),res(energy,63)] DR: [res(drill,4),res(memory,80),res(time,400),res(energy,24)] PR: [res(drill,4),res(memory,80),res(time,1040),res(energy,48)] 
 CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 38.5%  PRC: 29.1% SC: 50.0%  DE: 33.3%  PE: 20.0%
 CR: [res(drill,0),res(memory,100),res(time,300),res(energy,30)] DR: [res(drill,4),res(memory,80),res(time,400),res(energy,24)] PR: [res(drill,4),res(memory,80),res(time,1040),res(energy,48)] 
 CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target1)
Ignoring effect eff(arm_positioned(target1),1)
exp(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 50.0%  PE: 25.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target1),1),eff(measured(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(arm_positioned(target1),1),eff(measured(target1),1)] PE: [eff(spectral_profile(target1),1),eff(thermal_profile(target1),1)] CPE: [eff(spectral_profile(target1),0),eff(thermal_profile(target1),0)] 
position(target1): DRC: 0.0%  PRC: 0.0% SC: 100.0%  DE: 100.0%  PE: 100.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target1),1)]  S: [eff(arm_positioned(target1),1)] DE: [eff(arm_positioned(target1),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target1),0)
measures(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target1),0),eff(spectral_profile(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(measured(target1),1),eff(spectral_profile(target1),1)] PE: [] CPE: [] 
Spectral branch for exp(target2)
Ignoring effect eff(arm_positioned(target2),0)
exp(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target2),0),eff(measured(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(arm_positioned(target2),1),eff(measured(target2),1)] PE: [eff(spectral_profile(target2),1),eff(thermal_profile(target2),1)] CPE: [eff(spectral_profile(target2),0),eff(thermal_profile(target2),0)] 
position(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target2),0)]  S: [eff(arm_positioned(target2),1)] DE: [eff(arm_positioned(target2),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target2),0)
measures(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target2),0),eff(spectral_profile(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(measured(target2),1),eff(spectral_profile(target2),1)] PE: [] CPE: [] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),0)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),0),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
position(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target3),0)]  S: [eff(arm_positioned(target3),1)] DE: [eff(arm_positioned(target3),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
13: Events are []
Beliefs: [battery_charge(97),arm_positioned(target1),time_count(1158),active(explore(red1)),memory_count(350),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),active(position(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target1),active,[g(position(target1),active,[]),g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Goal position(target1) drop: active -> dropped
No more goal changes

14: nil plan succeeded
Completeness report: 
Beliefs: [completed(position(target1)),battery_charge(97),arm_positioned(target1),time_count(1158),active(explore(red1)),memory_count(350),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target1),active,[g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 52.4%  PRC: 43.1% SC: 75.0%  DE: 75.0%  PE: 50.0%
 CR: [res(drill,0),res(memory,150),res(time,765),res(energy,66)] DR: [res(drill,4),res(memory,80),res(time,340),res(energy,22)] PR: [res(drill,4),res(memory,80),res(time,860),res(energy,44)] 
 CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 42.7%  PRC: 32.8% SC: 50.0%  DE: 33.3%  PE: 20.0%
 CR: [res(drill,0),res(memory,100),res(time,420),res(energy,33)] DR: [res(drill,4),res(memory,80),res(time,340),res(energy,22)] PR: [res(drill,4),res(memory,80),res(time,860),res(energy,44)] 
 CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target1)
Ignoring effect eff(arm_positioned(target1),1)
exp(target1): DRC: 29.5%  PRC: 21.8% SC: 0.0%  DE: 50.0%  PE: 25.0%
 CR: [res(drill,0),res(memory,0),res(time,120),res(energy,3)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(arm_positioned(target1),1),eff(measured(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(arm_positioned(target1),1),eff(measured(target1),1)] PE: [eff(spectral_profile(target1),1),eff(thermal_profile(target1),1)] CPE: [eff(spectral_profile(target1),0),eff(thermal_profile(target1),0)] 
Ignoring effect eff(spectral_profile(target1),0)
measures(target1): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target1),0),eff(spectral_profile(target1),0)]  S: [eff(measured(target1),1)] DE: [eff(measured(target1),1),eff(spectral_profile(target1),1)] PE: [] CPE: [] 
Spectral branch for exp(target2)
Ignoring effect eff(arm_positioned(target2),0)
exp(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target2),0),eff(measured(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(arm_positioned(target2),1),eff(measured(target2),1)] PE: [eff(spectral_profile(target2),1),eff(thermal_profile(target2),1)] CPE: [eff(spectral_profile(target2),0),eff(thermal_profile(target2),0)] 
position(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target2),0)]  S: [eff(arm_positioned(target2),1)] DE: [eff(arm_positioned(target2),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target2),0)
measures(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target2),0),eff(spectral_profile(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(measured(target2),1),eff(spectral_profile(target2),1)] PE: [] CPE: [] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),0)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),0),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
position(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target3),0)]  S: [eff(arm_positioned(target3),1)] DE: [eff(arm_positioned(target3),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
14: Events are []
Beliefs: [completed(position(target1)),battery_charge(97),arm_positioned(target1),time_count(1158),active(explore(red1)),memory_count(350),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),drill_count(0),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target1),active,[g(measures(target1),active,[measurements(target1)])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

No more goal changes

15: Performed action measurements(target1)
Completeness report: 
Beliefs: [spectral_profile(target1),battery_charge(92),memory_count(370),drill_count(1),completed(position(target1)),arm_positioned(target1),time_count(1158),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target1),active,[g(measures(target1),active,[])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 52.4%  PRC: 43.1% SC: 75.0%  DE: 75.0%  PE: 50.0%
 CR: [res(drill,0),res(memory,150),res(time,765),res(energy,66)] DR: [res(drill,4),res(memory,80),res(time,340),res(energy,22)] PR: [res(drill,4),res(memory,80),res(time,860),res(energy,44)] 
 CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target1)
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 42.7%  PRC: 32.8% SC: 50.0%  DE: 33.3%  PE: 20.0%
 CR: [res(drill,0),res(memory,100),res(time,420),res(energy,33)] DR: [res(drill,4),res(memory,80),res(time,340),res(energy,22)] PR: [res(drill,4),res(memory,80),res(time,860),res(energy,44)] 
 CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target1)
Ignoring effect eff(arm_positioned(target1),1)
exp(target1): DRC: 29.5%  PRC: 21.8% SC: 100.0%  DE: 100.0%  PE: 75.0%
 CR: [res(drill,0),res(memory,0),res(time,120),res(energy,3)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(arm_positioned(target1),1),eff(measured(target1),1)]  S: [eff(measured(target1),1)] DE: [eff(arm_positioned(target1),1),eff(measured(target1),1)] PE: [eff(spectral_profile(target1),1),eff(thermal_profile(target1),1)] CPE: [eff(spectral_profile(target1),1),eff(thermal_profile(target1),0)] 
Ignoring effect eff(spectral_profile(target1),1)
measures(target1): DRC: 0.0%  PRC: 0.0% SC: 100.0%  DE: 100.0%  PE: 100.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target1),1),eff(spectral_profile(target1),1)]  S: [eff(measured(target1),1)] DE: [eff(measured(target1),1),eff(spectral_profile(target1),1)] PE: [] CPE: [] 
Spectral branch for exp(target2)
Ignoring effect eff(arm_positioned(target2),0)
exp(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target2),0),eff(measured(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(arm_positioned(target2),1),eff(measured(target2),1)] PE: [eff(spectral_profile(target2),1),eff(thermal_profile(target2),1)] CPE: [eff(spectral_profile(target2),0),eff(thermal_profile(target2),0)] 
position(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target2),0)]  S: [eff(arm_positioned(target2),1)] DE: [eff(arm_positioned(target2),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target2),0)
measures(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target2),0),eff(spectral_profile(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(measured(target2),1),eff(spectral_profile(target2),1)] PE: [] CPE: [] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),0)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),0),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
position(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target3),0)]  S: [eff(arm_positioned(target3),1)] DE: [eff(arm_positioned(target3),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
15: Events are []
Beliefs: [spectral_profile(target1),battery_charge(92),memory_count(370),drill_count(1),completed(position(target1)),arm_positioned(target1),time_count(1158),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(exp(target1)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target1),active,[g(measures(target1),active,[])]),g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Goal exp(target1) drop: active -> dropped
No more goal changes

16: nil plan succeeded
Completeness report: 
Beliefs: [completed(exp(target1)),spectral_profile(target1),battery_charge(92),memory_count(370),drill_count(1),completed(position(target1)),arm_positioned(target1),time_count(1158),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 63.0%  PRC: 54.2% SC: 75.0%  DE: 75.0%  PE: 50.0%
 CR: [res(drill,1),res(memory,170),res(time,825),res(energy,71)] DR: [res(drill,3),res(memory,60),res(time,300),res(energy,18)] PR: [res(drill,3),res(memory,60),res(time,780),res(energy,36)] 
 CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 55.3%  PRC: 45.3% SC: 50.0%  DE: 33.3%  PE: 20.0%
 CR: [res(drill,1),res(memory,120),res(time,480),res(energy,38)] DR: [res(drill,3),res(memory,60),res(time,300),res(energy,18)] PR: [res(drill,3),res(memory,60),res(time,780),res(energy,36)] 
 CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target2)
Ignoring effect eff(arm_positioned(target2),0)
exp(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target2),0),eff(measured(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(arm_positioned(target2),1),eff(measured(target2),1)] PE: [eff(spectral_profile(target2),1),eff(thermal_profile(target2),1)] CPE: [eff(spectral_profile(target2),0),eff(thermal_profile(target2),0)] 
position(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target2),0)]  S: [eff(arm_positioned(target2),1)] DE: [eff(arm_positioned(target2),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target2),0)
measures(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target2),0),eff(spectral_profile(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(measured(target2),1),eff(spectral_profile(target2),1)] PE: [] CPE: [] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),0)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),0),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
position(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target3),0)]  S: [eff(arm_positioned(target3),1)] DE: [eff(arm_positioned(target3),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
16: Events are []
Beliefs: [completed(exp(target1)),spectral_profile(target1),battery_charge(92),memory_count(370),drill_count(1),completed(position(target1)),arm_positioned(target1),time_count(1158),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target2),active,[g(position(target2),active,[positionarm(target2)]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

No more goal changes

17: Performed action positionarm(target2)
Completeness report: 
Beliefs: [battery_charge(89),arm_positioned(target2),time_count(1278),completed(exp(target1)),spectral_profile(target1),memory_count(370),drill_count(1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target2),active,[g(position(target2),active,[]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 63.0%  PRC: 54.2% SC: 75.0%  DE: 75.0%  PE: 50.0%
 CR: [res(drill,1),res(memory,170),res(time,825),res(energy,71)] DR: [res(drill,3),res(memory,60),res(time,300),res(energy,18)] PR: [res(drill,3),res(memory,60),res(time,780),res(energy,36)] 
 CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 55.3%  PRC: 45.3% SC: 50.0%  DE: 33.3%  PE: 20.0%
 CR: [res(drill,1),res(memory,120),res(time,480),res(energy,38)] DR: [res(drill,3),res(memory,60),res(time,300),res(energy,18)] PR: [res(drill,3),res(memory,60),res(time,780),res(energy,36)] 
 CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target2)
Ignoring effect eff(arm_positioned(target2),1)
exp(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 50.0%  PE: 25.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target2),1),eff(measured(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(arm_positioned(target2),1),eff(measured(target2),1)] PE: [eff(spectral_profile(target2),1),eff(thermal_profile(target2),1)] CPE: [eff(spectral_profile(target2),0),eff(thermal_profile(target2),0)] 
position(target2): DRC: 0.0%  PRC: 0.0% SC: 100.0%  DE: 100.0%  PE: 100.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target2),1)]  S: [eff(arm_positioned(target2),1)] DE: [eff(arm_positioned(target2),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target2),0)
measures(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target2),0),eff(spectral_profile(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(measured(target2),1),eff(spectral_profile(target2),1)] PE: [] CPE: [] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),0)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),0),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
position(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target3),0)]  S: [eff(arm_positioned(target3),1)] DE: [eff(arm_positioned(target3),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
17: Events are []
Beliefs: [battery_charge(89),arm_positioned(target2),time_count(1278),completed(exp(target1)),spectral_profile(target1),memory_count(370),drill_count(1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(position(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target2),active,[g(position(target2),active,[]),g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Goal position(target2) drop: active -> dropped
No more goal changes

18: nil plan succeeded
Completeness report: 
Beliefs: [completed(position(target2)),battery_charge(89),arm_positioned(target2),time_count(1278),completed(exp(target1)),spectral_profile(target1),memory_count(370),drill_count(1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target2),active,[g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 65.2%  PRC: 57.5% SC: 75.0%  DE: 75.0%  PE: 50.0%
 CR: [res(drill,1),res(memory,170),res(time,945),res(energy,74)] DR: [res(drill,3),res(memory,60),res(time,240),res(energy,16)] PR: [res(drill,3),res(memory,60),res(time,600),res(energy,32)] 
 CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 58.8%  PRC: 49.5% SC: 50.0%  DE: 33.3%  PE: 20.0%
 CR: [res(drill,1),res(memory,120),res(time,600),res(energy,41)] DR: [res(drill,3),res(memory,60),res(time,240),res(energy,16)] PR: [res(drill,3),res(memory,60),res(time,600),res(energy,32)] 
 CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target2)
Ignoring effect eff(arm_positioned(target2),1)
exp(target2): DRC: 29.5%  PRC: 21.8% SC: 0.0%  DE: 50.0%  PE: 25.0%
 CR: [res(drill,0),res(memory,0),res(time,120),res(energy,3)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(arm_positioned(target2),1),eff(measured(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(arm_positioned(target2),1),eff(measured(target2),1)] PE: [eff(spectral_profile(target2),1),eff(thermal_profile(target2),1)] CPE: [eff(spectral_profile(target2),0),eff(thermal_profile(target2),0)] 
Ignoring effect eff(spectral_profile(target2),0)
measures(target2): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target2),0),eff(spectral_profile(target2),0)]  S: [eff(measured(target2),1)] DE: [eff(measured(target2),1),eff(spectral_profile(target2),1)] PE: [] CPE: [] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),0)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),0),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
position(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target3),0)]  S: [eff(arm_positioned(target3),1)] DE: [eff(arm_positioned(target3),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
18: Events are []
Beliefs: [completed(position(target2)),battery_charge(89),arm_positioned(target2),time_count(1278),completed(exp(target1)),spectral_profile(target1),memory_count(370),drill_count(1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target2),active,[g(measures(target2),active,[measurements(target2)])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

No more goal changes

19: Performed action measurements(target2)
Completeness report: 
Beliefs: [spectral_profile(target2),battery_charge(84),memory_count(390),drill_count(2),completed(position(target2)),arm_positioned(target2),time_count(1278),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target2),active,[g(measures(target2),active,[])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 65.2%  PRC: 57.5% SC: 75.0%  DE: 75.0%  PE: 50.0%
 CR: [res(drill,1),res(memory,170),res(time,945),res(energy,74)] DR: [res(drill,3),res(memory,60),res(time,240),res(energy,16)] PR: [res(drill,3),res(memory,60),res(time,600),res(energy,32)] 
 CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target2)
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 58.8%  PRC: 49.5% SC: 50.0%  DE: 33.3%  PE: 20.0%
 CR: [res(drill,1),res(memory,120),res(time,600),res(energy,41)] DR: [res(drill,3),res(memory,60),res(time,240),res(energy,16)] PR: [res(drill,3),res(memory,60),res(time,600),res(energy,32)] 
 CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target2)
Ignoring effect eff(arm_positioned(target2),1)
exp(target2): DRC: 29.5%  PRC: 21.8% SC: 100.0%  DE: 100.0%  PE: 75.0%
 CR: [res(drill,0),res(memory,0),res(time,120),res(energy,3)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(arm_positioned(target2),1),eff(measured(target2),1)]  S: [eff(measured(target2),1)] DE: [eff(arm_positioned(target2),1),eff(measured(target2),1)] PE: [eff(spectral_profile(target2),1),eff(thermal_profile(target2),1)] CPE: [eff(spectral_profile(target2),1),eff(thermal_profile(target2),0)] 
Ignoring effect eff(spectral_profile(target2),1)
measures(target2): DRC: 0.0%  PRC: 0.0% SC: 100.0%  DE: 100.0%  PE: 100.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target2),1),eff(spectral_profile(target2),1)]  S: [eff(measured(target2),1)] DE: [eff(measured(target2),1),eff(spectral_profile(target2),1)] PE: [] CPE: [] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),0)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),0),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
position(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target3),0)]  S: [eff(arm_positioned(target3),1)] DE: [eff(arm_positioned(target3),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
19: Events are []
Beliefs: [spectral_profile(target2),battery_charge(84),memory_count(390),drill_count(2),completed(position(target2)),arm_positioned(target2),time_count(1278),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(exp(target2)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target2),active,[g(measures(target2),active,[])]),g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Goal exp(target2) drop: active -> dropped
No more goal changes

20: nil plan succeeded
Completeness report: 
Beliefs: [completed(exp(target2)),spectral_profile(target2),battery_charge(84),memory_count(390),drill_count(2),completed(position(target2)),arm_positioned(target2),time_count(1278),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 75.7%  PRC: 68.8% SC: 75.0%  DE: 75.0%  PE: 50.0%
 CR: [res(drill,2),res(memory,190),res(time,1005),res(energy,79)] DR: [res(drill,2),res(memory,40),res(time,200),res(energy,12)] PR: [res(drill,2),res(memory,40),res(time,520),res(energy,24)] 
 CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 71.0%  PRC: 62.4% SC: 50.0%  DE: 33.3%  PE: 20.0%
 CR: [res(drill,2),res(memory,140),res(time,660),res(energy,46)] DR: [res(drill,2),res(memory,40),res(time,200),res(energy,12)] PR: [res(drill,2),res(memory,40),res(time,520),res(energy,24)] 
 CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),0)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),0),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
position(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target3),0)]  S: [eff(arm_positioned(target3),1)] DE: [eff(arm_positioned(target3),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
20: Events are []
Beliefs: [completed(exp(target2)),spectral_profile(target2),battery_charge(84),memory_count(390),drill_count(2),completed(position(target2)),arm_positioned(target2),time_count(1278),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target3),active,[g(position(target3),active,[positionarm(target3)]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

No more goal changes

21: Performed action positionarm(target3)
Completeness report: 
Beliefs: [battery_charge(81),arm_positioned(target3),time_count(1398),completed(exp(target2)),spectral_profile(target2),memory_count(390),drill_count(2),completed(position(target2)),arm_positioned(target2),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target3),active,[g(position(target3),active,[]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 75.7%  PRC: 68.8% SC: 75.0%  DE: 75.0%  PE: 50.0%
 CR: [res(drill,2),res(memory,190),res(time,1005),res(energy,79)] DR: [res(drill,2),res(memory,40),res(time,200),res(energy,12)] PR: [res(drill,2),res(memory,40),res(time,520),res(energy,24)] 
 CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 71.0%  PRC: 62.4% SC: 50.0%  DE: 33.3%  PE: 20.0%
 CR: [res(drill,2),res(memory,140),res(time,660),res(energy,46)] DR: [res(drill,2),res(memory,40),res(time,200),res(energy,12)] PR: [res(drill,2),res(memory,40),res(time,520),res(energy,24)] 
 CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),1)
exp(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 50.0%  PE: 25.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target3),1),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
position(target3): DRC: 0.0%  PRC: 0.0% SC: 100.0%  DE: 100.0%  PE: 100.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target3),1)]  S: [eff(arm_positioned(target3),1)] DE: [eff(arm_positioned(target3),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
21: Events are []
Beliefs: [battery_charge(81),arm_positioned(target3),time_count(1398),completed(exp(target2)),spectral_profile(target2),memory_count(390),drill_count(2),completed(position(target2)),arm_positioned(target2),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(position(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target3),active,[g(position(target3),active,[]),g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Goal position(target3) drop: active -> dropped
No more goal changes

22: nil plan succeeded
Completeness report: 
Beliefs: [completed(position(target3)),battery_charge(81),arm_positioned(target3),time_count(1398),completed(exp(target2)),spectral_profile(target2),memory_count(390),drill_count(2),completed(position(target2)),arm_positioned(target2),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target3),active,[g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 77.7%  PRC: 72.4% SC: 75.0%  DE: 75.0%  PE: 50.0%
 CR: [res(drill,2),res(memory,190),res(time,1125),res(energy,82)] DR: [res(drill,2),res(memory,40),res(time,140),res(energy,10)] PR: [res(drill,2),res(memory,40),res(time,340),res(energy,20)] 
 CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 73.9%  PRC: 67.1% SC: 50.0%  DE: 33.3%  PE: 20.0%
 CR: [res(drill,2),res(memory,140),res(time,780),res(energy,49)] DR: [res(drill,2),res(memory,40),res(time,140),res(energy,10)] PR: [res(drill,2),res(memory,40),res(time,340),res(energy,20)] 
 CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),1)
exp(target3): DRC: 29.5%  PRC: 21.8% SC: 0.0%  DE: 50.0%  PE: 25.0%
 CR: [res(drill,0),res(memory,0),res(time,120),res(energy,3)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(arm_positioned(target3),1),eff(measured(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),0),eff(thermal_profile(target3),0)] 
Ignoring effect eff(spectral_profile(target3),0)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),0),eff(spectral_profile(target3),0)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
22: Events are []
Beliefs: [completed(position(target3)),battery_charge(81),arm_positioned(target3),time_count(1398),completed(exp(target2)),spectral_profile(target2),memory_count(390),drill_count(2),completed(position(target2)),arm_positioned(target2),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target3),active,[g(measures(target3),active,[measurements(target3)])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

No more goal changes

23: Performed action measurements(target3)
Completeness report: 
Beliefs: [spectral_profile(target3),battery_charge(76),memory_count(410),drill_count(3),completed(position(target3)),arm_positioned(target3),time_count(1398),completed(exp(target2)),spectral_profile(target2),completed(position(target2)),arm_positioned(target2),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target3),active,[g(measures(target3),active,[])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target3)
Spectral branch for exp(target4)
explore(red1): DRC: 77.7%  PRC: 72.4% SC: 75.0%  DE: 75.0%  PE: 50.0%
 CR: [res(drill,2),res(memory,190),res(time,1125),res(energy,82)] DR: [res(drill,2),res(memory,40),res(time,140),res(energy,10)] PR: [res(drill,2),res(memory,40),res(time,340),res(energy,20)] 
 CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target3)
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 73.9%  PRC: 67.1% SC: 50.0%  DE: 33.3%  PE: 20.0%
 CR: [res(drill,2),res(memory,140),res(time,780),res(energy,49)] DR: [res(drill,2),res(memory,40),res(time,140),res(energy,10)] PR: [res(drill,2),res(memory,40),res(time,340),res(energy,20)] 
 CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target3)
Ignoring effect eff(arm_positioned(target3),1)
exp(target3): DRC: 29.5%  PRC: 21.8% SC: 100.0%  DE: 100.0%  PE: 75.0%
 CR: [res(drill,0),res(memory,0),res(time,120),res(energy,3)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(arm_positioned(target3),1),eff(measured(target3),1)]  S: [eff(measured(target3),1)] DE: [eff(arm_positioned(target3),1),eff(measured(target3),1)] PE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),1)] CPE: [eff(spectral_profile(target3),1),eff(thermal_profile(target3),0)] 
Ignoring effect eff(spectral_profile(target3),1)
measures(target3): DRC: 0.0%  PRC: 0.0% SC: 100.0%  DE: 100.0%  PE: 100.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target3),1),eff(spectral_profile(target3),1)]  S: [eff(measured(target3),1)] DE: [eff(measured(target3),1),eff(spectral_profile(target3),1)] PE: [] CPE: [] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
23: Events are []
Beliefs: [spectral_profile(target3),battery_charge(76),memory_count(410),drill_count(3),completed(position(target3)),arm_positioned(target3),time_count(1398),completed(exp(target2)),spectral_profile(target2),completed(position(target2)),arm_positioned(target2),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(exp(target3)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target3),active,[g(measures(target3),active,[])]),g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Goal exp(target3) drop: active -> dropped
No more goal changes

24: nil plan succeeded
Completeness report: 
Beliefs: [completed(exp(target3)),spectral_profile(target3),battery_charge(76),memory_count(410),drill_count(3),completed(position(target3)),arm_positioned(target3),time_count(1398),completed(exp(target2)),spectral_profile(target2),completed(position(target2)),arm_positioned(target2),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target4)
explore(red1): DRC: 88.0%  PRC: 84.0% SC: 75.0%  DE: 75.0%  PE: 50.0%
 CR: [res(drill,3),res(memory,210),res(time,1185),res(energy,87)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 85.8%  PRC: 80.5% SC: 50.0%  DE: 33.3%  PE: 20.0%
 CR: [res(drill,3),res(memory,160),res(time,840),res(energy,54)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),0)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),0),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),0)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
24: Events are []
Beliefs: [completed(exp(target3)),spectral_profile(target3),battery_charge(76),memory_count(410),drill_count(3),completed(position(target3)),arm_positioned(target3),time_count(1398),completed(exp(target2)),spectral_profile(target2),completed(position(target2)),arm_positioned(target2),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target4),active,[g(position(target4),active,[positionarm(target4)]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

No more goal changes

25: Performed action positionarm(target4)
Completeness report: 
Beliefs: [battery_charge(73),arm_positioned(target4),time_count(1518),completed(exp(target3)),spectral_profile(target3),memory_count(410),drill_count(3),completed(position(target3)),arm_positioned(target3),completed(exp(target2)),spectral_profile(target2),completed(position(target2)),arm_positioned(target2),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target4),active,[g(position(target4),active,[]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target4)
explore(red1): DRC: 88.0%  PRC: 84.0% SC: 75.0%  DE: 75.0%  PE: 50.0%
 CR: [res(drill,3),res(memory,210),res(time,1185),res(energy,87)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 85.8%  PRC: 80.5% SC: 50.0%  DE: 33.3%  PE: 20.0%
 CR: [res(drill,3),res(memory,160),res(time,840),res(energy,54)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),1)
exp(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 50.0%  PE: 25.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,100),res(energy,6)] PR: [res(drill,1),res(memory,20),res(time,260),res(energy,12)] 
 CE: [eff(arm_positioned(target4),1),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
position(target4): DRC: 0.0%  PRC: 0.0% SC: 100.0%  DE: 100.0%  PE: 100.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,0),res(memory,0),res(time,60),res(energy,2)] PR: [res(drill,0),res(memory,0),res(time,180),res(energy,4)] 
 CE: [eff(arm_positioned(target4),1)]  S: [eff(arm_positioned(target4),1)] DE: [eff(arm_positioned(target4),1)] PE: [] CPE: [] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
25: Events are []
Beliefs: [battery_charge(73),arm_positioned(target4),time_count(1518),completed(exp(target3)),spectral_profile(target3),memory_count(410),drill_count(3),completed(position(target3)),arm_positioned(target3),completed(exp(target2)),spectral_profile(target2),completed(position(target2)),arm_positioned(target2),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(position(target4)),active(measures(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target4),active,[g(position(target4),active,[]),g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Goal position(target4) drop: active -> dropped
No more goal changes

26: nil plan succeeded
Completeness report: 
Beliefs: [completed(position(target4)),battery_charge(73),arm_positioned(target4),time_count(1518),completed(exp(target3)),spectral_profile(target3),memory_count(410),drill_count(3),completed(position(target3)),arm_positioned(target3),completed(exp(target2)),spectral_profile(target2),completed(position(target2)),arm_positioned(target2),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(measures(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target4),active,[g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target4)
explore(red1): DRC: 89.8%  PRC: 88.1% SC: 75.0%  DE: 75.0%  PE: 50.0%
 CR: [res(drill,3),res(memory,210),res(time,1305),res(energy,90)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 88.3%  PRC: 86.0% SC: 50.0%  DE: 33.3%  PE: 20.0%
 CR: [res(drill,3),res(memory,160),res(time,960),res(energy,57)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),1)
exp(target4): DRC: 29.5%  PRC: 21.8% SC: 0.0%  DE: 50.0%  PE: 25.0%
 CR: [res(drill,0),res(memory,0),res(time,120),res(energy,3)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(arm_positioned(target4),1),eff(measured(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),0),eff(thermal_profile(target4),0)] 
Ignoring effect eff(spectral_profile(target4),0)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 0.0%  DE: 0.0%  PE: 0.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),0),eff(spectral_profile(target4),0)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
26: Events are []
Beliefs: [completed(position(target4)),battery_charge(73),arm_positioned(target4),time_count(1518),completed(exp(target3)),spectral_profile(target3),memory_count(410),drill_count(3),completed(position(target3)),arm_positioned(target3),completed(exp(target2)),spectral_profile(target2),completed(position(target2)),arm_positioned(target2),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(measures(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target4),active,[g(measures(target4),active,[measurements(target4)])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

No more goal changes

27: Performed action measurements(target4)
Completeness report: 
Beliefs: [spectral_profile(target4),battery_charge(68),memory_count(430),drill_count(4),completed(position(target4)),arm_positioned(target4),time_count(1518),completed(exp(target3)),spectral_profile(target3),completed(position(target3)),arm_positioned(target3),completed(exp(target2)),spectral_profile(target2),completed(position(target2)),arm_positioned(target2),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(measures(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target4),active,[g(measures(target4),active,[])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Spectral branch for exp(target4)
explore(red1): DRC: 89.8%  PRC: 88.1% SC: 75.0%  DE: 75.0%  PE: 50.0%
 CR: [res(drill,3),res(memory,210),res(time,1305),res(energy,90)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(at(canyon),1),eff(measured(rock1),1),eff(measured(target),1)] PE: [eff(spectral_profile(rock1),1),eff(thermal_profile(rock1),1),eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(rock1),0),eff(thermal_profile(rock1),1),eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target),0)
survey(canyon): DRC: 88.3%  PRC: 86.0% SC: 50.0%  DE: 33.3%  PE: 20.0%
 CR: [res(drill,3),res(memory,160),res(time,960),res(energy,57)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(targetlist(canyon),1),eff(arm_positioned(target),0),eff(measured(target),0)]  S: [eff(targetlist(canyon),1),eff(measured(target),1)] DE: [eff(targetlist(canyon),1),eff(arm_positioned(target),1),eff(measured(target),1)] PE: [eff(spectral_profile(target),1),eff(thermal_profile(target),1)] CPE: [eff(spectral_profile(target),0),eff(thermal_profile(target),0)] 
Spectral branch for exp(target4)
Ignoring effect eff(arm_positioned(target4),1)
exp(target4): DRC: 29.5%  PRC: 21.8% SC: 100.0%  DE: 100.0%  PE: 75.0%
 CR: [res(drill,0),res(memory,0),res(time,120),res(energy,3)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(arm_positioned(target4),1),eff(measured(target4),1)]  S: [eff(measured(target4),1)] DE: [eff(arm_positioned(target4),1),eff(measured(target4),1)] PE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),1)] CPE: [eff(spectral_profile(target4),1),eff(thermal_profile(target4),0)] 
Ignoring effect eff(spectral_profile(target4),1)
measures(target4): DRC: 0.0%  PRC: 0.0% SC: 100.0%  DE: 100.0%  PE: 100.0%
 CR: [res(drill,0),res(memory,0),res(time,0),res(energy,0)] DR: [res(drill,1),res(memory,20),res(time,40),res(energy,4)] PR: [res(drill,1),res(memory,20),res(time,80),res(energy,8)] 
 CE: [eff(measured(target4),1),eff(spectral_profile(target4),1)]  S: [eff(measured(target4),1)] DE: [eff(measured(target4),1),eff(spectral_profile(target4),1)] PE: [] CPE: [] 
Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
27: Events are []
Beliefs: [spectral_profile(target4),battery_charge(68),memory_count(430),drill_count(4),completed(position(target4)),arm_positioned(target4),time_count(1518),completed(exp(target3)),spectral_profile(target3),completed(position(target3)),arm_positioned(target3),completed(exp(target2)),spectral_profile(target2),completed(position(target2)),arm_positioned(target2),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(explore(red1)),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(measures(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(explore(red1),active,[g(survey(canyon),active,[g(exp(target4),active,[g(measures(target4),active,[])])])])]##[[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]]

Goal explore(red1) drop: active -> dropped
No more goal changes

28: nil plan succeeded
Completeness report: 
Beliefs: [completed(explore(red1)),spectral_profile(target4),battery_charge(68),memory_count(430),drill_count(4),completed(position(target4)),arm_positioned(target4),time_count(1518),completed(exp(target3)),spectral_profile(target3),completed(position(target3)),arm_positioned(target3),completed(exp(target2)),spectral_profile(target2),completed(position(target2)),arm_positioned(target2),completed(exp(target1)),spectral_profile(target1),completed(position(target1)),arm_positioned(target1),active(suspendGoals),completed(id_targets(canyon)),targetlist(canyon),completed(traverse(rock1,canyon)),at(canyon),completed(exp(rock1)),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(measures(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),arm_positioned(rock1),active(exp(target4)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),at(red1)]
Goal and Plans: [[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]

Found goal recharge in state
Found goal memory in state
-----------------------------------------------------
28: Events are [halt]
Halt event detected
Beliefs: [completed(explore(red1)),resources(measures(target4),[res(drill,1),res(memory,20),res(time,60),res(energy,5)]),resources(exp(target4),[res(drill,1),res(memory,20),res(time,180),res(energy,8)]),resources(survey(canyon),[res(drill,4),res(memory,180),res(time,1020),res(energy,62)]),resources(explore(red1),[res(drill,4),res(memory,230),res(time,1365),res(energy,95)]),spectral_profile(target4),battery_charge(68),memory_count(430),drill_count(4),completed(position(target4)),resources(position(target4),[res(drill,0),res(memory,0),res(time,120),res(energy,3)]),arm_positioned(target4),time_count(1518),completed(exp(target3)),resources(measures(target3),[res(drill,1),res(memory,20),res(time,60),res(energy,5)]),resources(exp(target3),[res(drill,1),res(memory,20),res(time,180),res(energy,8)]),spectral_profile(target3),completed(position(target3)),resources(position(target3),[res(drill,0),res(memory,0),res(time,120),res(energy,3)]),arm_positioned(target3),completed(exp(target2)),resources(measures(target2),[res(drill,1),res(memory,20),res(time,60),res(energy,5)]),resources(exp(target2),[res(drill,1),res(memory,20),res(time,180),res(energy,8)]),spectral_profile(target2),completed(position(target2)),resources(position(target2),[res(drill,0),res(memory,0),res(time,120),res(energy,3)]),arm_positioned(target2),completed(exp(target1)),resources(measures(target1),[res(drill,1),res(memory,20),res(time,60),res(energy,5)]),resources(exp(target1),[res(drill,1),res(memory,20),res(time,180),res(energy,8)]),spectral_profile(target1),completed(position(target1)),resources(position(target1),[res(drill,0),res(memory,0),res(time,120),res(energy,3)]),arm_positioned(target1),resources(recharge,[res(drill,0),res(memory,200),res(time,600),res(energy,0)]),resources(pauseAndRecharge,[res(drill,0),res(memory,200),res(time,600),res(energy,0)]),active(suspendGoals),completed(id_targets(canyon)),resources(id_targets(canyon),[res(drill,0),res(memory,100),res(time,300),res(energy,30)]),targetlist(canyon),completed(traverse(rock1,canyon)),resources(traverse(rock1,canyon),[res(drill,0),res(memory,0),res(time,200),res(energy,25)]),at(canyon),completed(exp(rock1)),resources(measuret(rock1),[res(drill,0),res(memory,50),res(time,25),res(energy,5)]),resources(exp(rock1),[res(drill,0),res(memory,50),res(time,145),res(energy,8)]),thermal_profile(rock1),active(pauseAndRecharge),active(measures(target4)),active(measures(target3)),active(measures(target2)),active(measures(target1)),completed(position(rock1)),resources(position(rock1),[res(drill,0),res(memory,0),res(time,120),res(energy,3)]),arm_positioned(rock1),active(exp(target4)),active(measuret(rock1)),active(survey(canyon)),spectral(target4),spectral(target3),spectral(target2),spectral(target1),thermal(rock1),resources(id_targets(canyon),[res(drill,0),res(memory,0),res(time,0),res(energy,0)]),resources(measures(rock1),[res(drill,0),res(memory,0),res(time,0),res(energy,0)]),resources(measuret(target1),[res(drill,0),res(memory,0),res(time,0),res(energy,0)]),resources(measuret(target2),[res(drill,0),res(memory,0),res(time,0),res(energy,0)]),resources(measuret(target3),[res(drill,0),res(memory,0),res(time,0),res(energy,0)]),resources(measuret(target4),[res(drill,0),res(memory,0),res(time,0),res(energy,0)]),resources(suspendGoals,[res(drill,0),res(memory,0),res(time,0),res(energy,0)]),resources(memory,[res(drill,0),res(memory,0),res(time,0),res(energy,0)]),at(red1)]
Goal and Plans: [[g(recharge,monitoring,empty)]##[g(memory,monitoring,empty)]]