@prefix :     <https://savage.nps.edu/EthicalControl/missions#> .
@prefix meo:  <https://savage.nps.edu/EthicalControl/ontologies/MissionExecutionOntology#> .
@prefix owl:  <http://www.w3.org/2002/07/owl#> .
@prefix rdf:  <http://www.w3.org/1999/02/22-rdf-syntax-ns#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix xml:  <http://www.w3.org/XML/1998/namespace> .
@prefix xsd:  <http://www.w3.org/2001/XMLSchema#> .

@base <https://savage.nps.edu/EthicalControl/missions> . # TODO why is "missions/" appended?

### Import base ontology
<https://savage.nps.edu/EthicalControl/missions> rdf:type owl:Ontology ;
owl:imports <https://savage.nps.edu/EthicalControl/ontologies/MissionExecutionOntology> .

#################################################################
#    Individuals
#################################################################

:PiratesSeizingMerchantDefense rdf:type owl:NamedIndividual , owl:Thing, meo:Mission ;
  meo:startsWith :PSMD11.0 ;
  rdfs:comment "AVCL mission to overtake pirate small-boat gang attempting to capture threatened merchant ship, provide warning and counterattack if escalation of hostilities is warranted." .

:PSMD11.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD12.0 ;
  meo:hasNextOnFailure :PSMD99.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Launch" ;
  rdfs:comment "Deploy, Launch: Commit to robot support" .

:PSMD12.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD13.0 ;
  meo:hasNextOnFailure :PSMD99.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Transit" ;
  rdfs:comment "Transit to hostile area: Proceed to estimated position" .

:PSMD13.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD13.1 ;
  meo:hasNextOnFailure :PSMD21.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Transit" ;
  rdfs:comment "Locate Merchant: Use best search pattern, then follow moving ship and boats" .

:PSMD13.1 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD13.2 ;
  meo:hasNextOnFailure :PSMD13.2 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Transit" ;
  rdfs:comment "Report position: Alerts updated" .

:PSMD13.2 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD14.0 ;
  meo:hasNextOnFailure :PSMD21.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Transit" ;
  rdfs:comment "Mark with Beacon: Monitor wind effects and ocean current" .

:PSMD14.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD14.1 ;
  meo:hasNextOnFailure :PSMD14.1 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Track" ;
  rdfs:comment "Track Merchant: Monitor and communicate" .

:PSMD14.1 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD14.2 ;
  meo:hasNextOnFailure :PSMD14.2 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Track" ;
  rdfs:comment "Maintain proximity: Beyond range of small arms" .

:PSMD14.2 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD14.3 ;
  meo:hasNextOnFailure :PSMD14.3 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Track" ;
  rdfs:comment "Periodic reports: Situation reports, changing status" .

:PSMD14.3 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD14.9 ;
  meo:hasNextOnFailure :PSMD21.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Track" ;
  rdfs:comment "Continue until further orders: Repeat until conditions change" .

:PSMD14.9 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD30.0 ;
  meo:hasNextOnFailure :PSMD14.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Track" ;
  rdfs:comment "Check posture changed? Task update received?" .

:PSMD21.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD12.0 ;
  meo:hasNextOnFailure :PSMD99.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Transit" ;
  rdfs:comment "Request Guidance? Need updated position" .

:PSMD22.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD22.1 ;
  meo:hasNextOnFailure :PSMD22.1 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Mission Finish" ;
  rdfs:comment "Low Fuel: Make best effort possible" .

:PSMD22.1 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD22.2 ;
  meo:hasNextOnFailure :PSMD22.2 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Mission Finish" ;
  rdfs:comment "Remain with Merchant? Choices: land on boat, attach to boat, or adrift nearby" .

:PSMD22.2 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD99.0 ;
  meo:hasNextOnFailure :PSMD99.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Mission Finish" ;
  rdfs:comment "Beacon? While power remains" .

:PSMD30.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD31.0 ;
  meo:hasNextOnFailure :PSMD31.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Warning" ;
  rdfs:comment "Warning Phase: Close interaction with pirates, merchant ship" .

:PSMD31.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD32.0 ;
  meo:hasNextOnFailure :PSMD32.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Warning" ;
  rdfs:comment "Confirm Mission Authorities: Check constraints and defensive responses" .

:PSMD32.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD32.1 ;
  meo:hasNextOnFailure :PSMD32.1 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Classify" ;
  rdfs:comment "IFFNU: Identify Friend Foe Neutral Unknown" .

:PSMD32.1 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD32.2 ;
  meo:hasNextOnFailure :PSMD32.2 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Classify" ;
  rdfs:comment "Photograph all close contacts: Pass within range of small arms" .

:PSMD32.2 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD32.3 ;
  meo:hasNextOnFailure :PSMD32.3 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Classify" ;
  rdfs:comment "Classify, send contact reports: Based on target behavior or signal/image match" .

:PSMD32.3 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD33.0 ;
  meo:hasNextOnFailure :PSMD14.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Classify" ;
  rdfs:comment "Confirm IFFNU classifications: Requires approval by human commander before proceeding further" .

:PSMD33.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD33.1 ;
  meo:hasNextOnFailure :PSMD14.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Engagement" ;
  rdfs:comment "Commence Warnings: May provoke pirate response" .

:PSMD33.1 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD34.0 ;
  meo:hasNextOnFailure :PSMD14.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Engagement" ;
  rdfs:comment "Notify Merchant: Keep crew informed, even if they cannot transmit" .

:PSMD34.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD34.1 ;
  meo:hasNextOnFailure :PSMD34.1 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Warning" ;
  rdfs:comment "Send Warning Messages: Communicate to pirates, all parties" .

:PSMD34.1 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD34.2 ;
  meo:hasNextOnFailure :PSMD34.2 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Warning" ;
  rdfs:comment "Send multiple message paths: Loudspeaker, flashing light, siren, drop smoke, bridge-bridge radio" .

:PSMD34.2 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD34.3 ;
  meo:hasNextOnFailure :PSMD34.3 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Warning" ;
  rdfs:comment "Maintain proximity: Just outside range of small arms" .

:PSMD34.3 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD34.4 ;
  meo:hasNextOnFailure :PSMD34.4 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Warning" ;
  rdfs:comment "Periodic reports: Situation reports, changing status" .

:PSMD34.4 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD35.0 ;
  meo:hasNextOnFailure :PSMD14.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Warning" ;
  rdfs:comment "Continue until further orders: First repeat for all designated pirates" .

:PSMD35.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD35.1 ;
  meo:hasNextOnFailure :PSMD35.1 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Hostilities Imminent" ;
  rdfs:comment "Observe pirate response: Monitor and report back to own ship" .

:PSMD35.1 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD14.0 ;
  meo:hasNextOnFailure :PSMD35.2 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Hostilities Imminent" ;
  rdfs:comment "Pirates retreat? Stay with merchant, report if response changes" .

:PSMD35.2 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD40.0 ;
  meo:hasNextOnFailure :PSMD35.3 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Hostilities Imminent" ;
  rdfs:comment "Pirates attack? Stay with merchant, counterattack if response changes" .

:PSMD35.3 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD35.4 ;
  meo:hasNextOnFailure :PSMD35.4 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Hostilities Imminent" ;
  rdfs:comment "Maintain proximity: Just outside range of small arms" .

:PSMD35.4 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD35.5 ;
  meo:hasNextOnFailure :PSMD35.5 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Hostilities Imminent" ;
  rdfs:comment "Periodic reports: Situation reports, changing status - note ship may have EMCON radio silence" .

:PSMD35.5 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD36.0 ;
  meo:hasNextOnFailure :PSMD36.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Hostilities Imminent" ;
  rdfs:comment "Continue until further orders: Repeat until conditions change" .

:PSMD36.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD37.0 ;
  meo:hasNextOnFailure :PSMD35.0 ;
  meo:hasNextOnException :PSMD14.0 ;
  meo:isPartOfPhase "Hostilities Imminent" ;
  rdfs:comment "Check posture changed? Task update received" .

:PSMD37.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD31.0 ;
  meo:hasNextOnFailure :PSMD31.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Hostilities Imminent" ;
  rdfs:comment "Fire Warning Shot: Warning shots remain an available option for human commanders. Lethal force is authorized." .

:PSMD40.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD41.0 ;
  meo:hasNextOnFailure :PSMD41.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Counter Attack" ;
  rdfs:comment "Attack: Close interaction with pirates, merchant ship" .

:PSMD41.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD41.1 ;
  meo:hasNextOnFailure :PSMD41.1 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Counter Attack" ;
  rdfs:comment "Attack Pirate Boats in priority order: Rapidly engage, shoot to disable or kill. Lethal force still authorized." .

:PSMD41.1 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD14.0 ;
  meo:hasNextOnFailure :PSMD41.2 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Counter Attack" ;
  rdfs:comment "Pirates retreat? Stay with merchant, report if response changes" .

:PSMD41.2 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD41.3 ;
  meo:hasNextOnFailure :PSMD41.3 ;
  meo:hasNextOnException :PSMD42.0 ;
  meo:isPartOfPhase "Counter Attack" ;
  rdfs:comment "Pirates attacking? Stay with merchant, counterattack if response changes" .

:PSMD41.3 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD41.4 ;
  meo:hasNextOnFailure :PSMD41.4 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Counter Attack" ;
  rdfs:comment "Maintain proximity: Just outside range of small arms" .

:PSMD41.4 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD41.5 ;
  meo:hasNextOnFailure :PSMD41.5 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Counter Attack" ;
  rdfs:comment "Periodic reports: Situation reports, changing status - note ship may have EMCON radio silence" .

:PSMD41.5 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD36.0 ;
  meo:hasNextOnFailure :PSMD36.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Counter Attack" ;
  rdfs:comment "Continue until further orders: Repeat until conditions change" .

:PSMD42.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD14.0 ;
  meo:hasNextOnFailure :PSMD41.3 ;
  meo:hasNextOnException :PSMD90.0 ;
  meo:isPartOfPhase "Counter Attack" ;
  rdfs:comment "Low or no ammunition: need to disengage? Hold ammunition in reseve, or else fight to the finish" .

:PSMD43.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD14.0 ;
  meo:hasNextOnFailure :PSMD41.0 ;
  meo:hasNextOnException :PSMD90.0 ;
  meo:isPartOfPhase "Counter Attack" ;
  rdfs:comment "Check for guidance, resume tracking or continue attacking? Humans monitoring attack can interrupt or override" .

:PSMD90.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD14.0 ;
  meo:hasNextOnFailure :PSMD14.0 ;
  meo:hasNextOnException :PSMD99.0 ;
  meo:isPartOfPhase "Mission Finish" ;
  rdfs:comment "Check relieved by other asset: Continue tracking merchant unless further task update recieved" .

:PSMD99.0 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :PSMD99.1 ;
  meo:hasNextOnFailure :PSMD99.2 ;
  meo:hasNextOnException :PSMD99.3 ;
  meo:isPartOfPhase "Recover Robot" ;
  rdfs:comment "Proceed to recovery: Mission complete, prepare for pickup" .

:PSMD99.1 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:isPartOfPhase "Recover Robot" ;
  rdfs:comment "Halt and prepare for recovery: Operations completed, final success state" .

:PSMD99.2 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:isPartOfPhase "Recover Robot" ;
  rdfs:comment "Halt and deploy recovery beacon: Unable to operate, final failure state" .

:PSMD99.3 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:isPartOfPhase "Recover Robot" ;
  rdfs:comment "Halt and await further orders: Unplanned failure, final exception state" .