Initial robots state is:
Beliefs: activate(search) activate(recharge) current_charge(240) return_time(0) at(alpha, base) 
Goals: search: perform(search, searched, false) pending '.'(r1, '.'(s1, '.'(s2, '.'(s3, '.'(s4, '.'(s5, '.'(s6, '.'(s7, '.'(s8, '.'(s9, '.'(s10, []))))))))))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) pending empty || 
Stage: 1 No new events. 
Goal search activate: pending -> active
Goal recharge activate: pending -> waiting
All goals stable
Managing active goals
Executing
Beliefs: current_charge(240) return_time(0) at(alpha, base) 
Goals: search: perform(search, searched, false) active '.'(r1, '.'(s1, '.'(s2, '.'(s3, '.'(s4, '.'(s5, '.'(s6, '.'(s7, '.'(s8, '.'(s9, '.'(s10, []))))))))))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) waiting empty || 
search: execute NMGA 
Doing action r1
success 
Stage: 2 No new events. 
All goals stable
Managing active goals
Executing
Beliefs: at(alpha, a1) return_time(20) current_charge(220) 
Goals: search: perform(search, searched, false) active '.'(s1, '.'(s2, '.'(s3, '.'(s4, '.'(s5, '.'(s6, '.'(s7, '.'(s8, '.'(s9, '.'(s10, [])))))))))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) waiting empty || 
search: execute NMGA 
Doing action s1
success 
Stage: 3 New Events: survivor 
Goal save activate: pending -> active
Goal search suspend: active -> suspended
All goals stable
Managing active goals
Executing
Beliefs: at(alpha, a2) return_time(20) current_charge(205) 
Goals: save: achieve(at(survivor, base), false) active '.'(taketobase, []) || search: perform(search, searched, false) suspended '.'(s2, '.'(s3, '.'(s4, '.'(s5, '.'(s6, '.'(s7, '.'(s8, '.'(s9, '.'(s10, []))))))))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) waiting empty || 
save: execute NMGA 
Doing action taketobase
success 
Stage: 4 No new events. 
Goal save drop: active -> dropped
Goal search reactivate: suspended -> active
All goals stable
Managing active goals
Executing
Beliefs: at(survivor, base) at(alpha, base) return_time(0) current_charge(185) 
Goals: search: perform(search, searched, false) active '.'(r2, '.'(s2, '.'(s3, '.'(s4, '.'(s5, '.'(s6, '.'(s7, '.'(s8, '.'(s9, '.'(s10, [])))))))))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) waiting empty || 
search: execute NMGA 
Doing action r2
success 
Stage: 5 No new events. 
All goals stable
Managing active goals
Executing
Beliefs: at(alpha, a2) return_time(21) current_charge(164) at(survivor, base) 
Goals: search: perform(search, searched, false) active '.'(s2, '.'(s3, '.'(s4, '.'(s5, '.'(s6, '.'(s7, '.'(s8, '.'(s9, '.'(s10, []))))))))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) waiting empty || 
search: execute NMGA 
Doing action s2
success 
Stage: 6 No new events. 
All goals stable
Managing active goals
Executing
Beliefs: at(alpha, a3) return_time(21) current_charge(149) at(survivor, base) 
Goals: search: perform(search, searched, false) active '.'(s3, '.'(s4, '.'(s5, '.'(s6, '.'(s7, '.'(s8, '.'(s9, '.'(s10, [])))))))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) waiting empty || 
search: execute NMGA 
Doing action s3
success 
Stage: 7 No new events. 
All goals stable
Managing active goals
Executing
Beliefs: at(alpha, a4) return_time(22) current_charge(134) at(survivor, base) 
Goals: search: perform(search, searched, false) active '.'(s4, '.'(s5, '.'(s6, '.'(s7, '.'(s8, '.'(s9, '.'(s10, []))))))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) waiting empty || 
search: execute NMGA 
Doing action s4
success 
Stage: 8 New Events: request 
Goal help activate: pending -> active
Goal search suspend: active -> suspended
All goals stable
Managing active goals
Executing
Beliefs: at(alpha, a5) return_time(23) current_charge(119) at(survivor, base) 
Goals: help: achieve(satisfied(_), false) active '.'(assist, '.'(assist, '.'(assist, []))) || search: perform(search, searched, false) suspended '.'(s5, '.'(s6, '.'(s7, '.'(s8, '.'(s9, '.'(s10, [])))))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) waiting empty || 
help: execute NMGA 
Doing action assist
success 
Stage: 9 New Events: abort(help) 
Goal help abort: active -> dropped
Goal search reactivate: suspended -> active
All goals stable
Managing active goals
Executing
Beliefs: at(alpha, a5) return_time(23) current_charge(119) at(survivor, base) 
Goals: search: perform(search, searched, false) active '.'(r5, '.'(s5, '.'(s6, '.'(s7, '.'(s8, '.'(s9, '.'(s10, []))))))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) waiting empty || 
search: execute NMGA 
Doing action r5
success 
Stage: 10 No new events. 
All goals stable
Managing active goals
Executing
Beliefs: at(alpha, a5) return_time(24) current_charge(95) at(survivor, base) 
Goals: search: perform(search, searched, false) active '.'(s5, '.'(s6, '.'(s7, '.'(s8, '.'(s9, '.'(s10, [])))))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) waiting empty || 
search: execute NMGA 
Doing action s5
success 
Stage: 11 No new events. 
All goals stable
Managing active goals
Executing
Beliefs: at(alpha, a6) return_time(24) current_charge(80) at(survivor, base) 
Goals: search: perform(search, searched, false) active '.'(s6, '.'(s7, '.'(s8, '.'(s9, '.'(s10, []))))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) waiting empty || 
search: execute NMGA 
Doing action s6
success 
Stage: 12 No new events. 
All goals stable
Managing active goals
Executing
Beliefs: at(alpha, a7) return_time(25) current_charge(65) at(survivor, base) 
Goals: search: perform(search, searched, false) active '.'(s7, '.'(s8, '.'(s9, '.'(s10, [])))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) waiting empty || 
search: execute NMGA 
Doing action s7
success 
Stage: 13 New Events: request 
Goal help activate: pending -> active
Goal search suspend: active -> suspended
All goals stable
Managing active goals
Executing
Beliefs: at(alpha, a8) return_time(26) current_charge(50) at(survivor, base) 
Goals: help: achieve(satisfied(_), false) active '.'(assist, '.'(assist, '.'(assist, []))) || search: perform(search, searched, false) suspended '.'(s8, '.'(s9, '.'(s10, []))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) waiting empty || 
help: execute NMGA 
Doing action assist
success 
Stage: 14 New Events: satisfied(bravo) predict_violation 
Goal help drop: active -> dropped
Goal search reactivate: suspended -> active
Goal search suspend: active -> suspended
Goal recharge respond: waiting -> active
Goal charge activate: pending -> active
All goals stable
Managing active goals
Executing
Beliefs: predict_violation satisfied(bravo) at(alpha, a8) return_time(26) current_charge(50) at(survivor, base) 
Goals: search: perform(search, searched, false) suspended '.'(r8, '.'(s8, '.'(s9, '.'(s10, [])))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) active empty || charge: achieve(recharged, false) active '.'(return, '.'(charge, [])) || 
search: not active recharge: active maintain charge: execute MGA RoP 
Doing action return
success 
Stage: 15 New Events: none
All goals stable
Managing active goals
Executing
Beliefs: at(alpha, base) return_time(0) current_charge(24) predict_violation satisfied(bravo) at(survivor, base) 
Goals: search: perform(search, searched, false) suspended '.'(r8, '.'(s8, '.'(s9, '.'(s10, [])))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) active empty || charge: achieve(recharged, false) active '.'(charge, []) || 
search: not active recharge: active maintain charge: execute MGA RoP 
Doing action charge
success 
Stage: 16 New Events: none
All goals stable
Managing active goals
Executing
Beliefs: current_charge(240) at(alpha, base) return_time(0) predict_violation satisfied(bravo) at(survivor, base) 
Goals: search: perform(search, searched, false) suspended '.'(r8, '.'(s8, '.'(s9, '.'(s10, [])))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) active empty || charge: achieve(recharged, false) active [] || 
search: not active recharge: active maintain charge: execute MGA RoP 
All goals stable
Managing active goals
Executing
Beliefs: activate(charge) predict_violation satisfied(bravo) at(alpha, a8) return_time(26) current_charge(50) at(survivor, base) 
Goals: search: perform(search, searched, false) suspended '.'(r8, '.'(s8, '.'(s9, '.'(s10, [])))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) waiting empty || 
search: not active recharge: not active 
----------------------------------
Finished with the agent in this state:
Beliefs: activate(charge) predict_violation satisfied(bravo) at(alpha, a8) return_time(26) current_charge(50) at(survivor, base) 
Goals: search: perform(search, searched, false) suspended '.'(r8, '.'(s8, '.'(s9, '.'(s10, [])))) || recharge: maintain('.'(mc1, []), predict, charge, charge, false, false) waiting empty ||