@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> .

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

:SailorOverboard rdf:type owl:NamedIndividual , owl:Thing, meo:Mission ;
  meo:startsWith :Goal1 ;
  rdfs:comment "AVCL mission to perform SAILOR OVERBOARD operations, carried out in concert with shipboard emergency procedures." .

:Goal1 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :Goal2 ;
  meo:hasNextOnFailure :Goal7 ;
  meo:hasNextOnException :Goal8 ;
  meo:isPartOfPhase "Launch" ;
  rdfs:comment "Deploy, Launch: Sailor Overboard Immediate Action" .

:Goal2 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :Goal4 ;
  meo:hasNextOnFailure :Goal3 ;
  meo:hasNextOnException :Goal5 ;
  meo:isPartOfPhase "Locate" ;
  rdfs:comment "Rendezvous with Sailor: Go directly to best known location" .

:Goal3 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :Goal4 ;
  meo:hasNextOnFailure :Goal5 ;
  meo:hasNextOnException :Goal5 ;
  meo:isPartOfPhase "Locate" ;
  rdfs:comment "Search for Sailor: Sailor position not known, intermittent" .

:Goal4 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :Goal5 ;
  meo:hasNextOnFailure :Goal5 ;
  meo:hasNextOnException :Goal5 ;
  meo:isPartOfPhase "Track" ;
  rdfs:comment "Track Sailor afloat until safe: Watch closely, not to interfere with rescue operations" .

:Goal5 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:hasNextOnSuccess :Goal6 ;
  meo:hasNextOnFailure :Goal7 ;
  meo:hasNextOnException :Goal8 ;
  meo:isPartOfPhase "Mission Finish" ;
  rdfs:comment "Proceed to Recovery: Mission complete, prepare for pickup" .

:Goal6 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:isPartOfPhase "Recover Robot" ;
  rdfs:comment "Halt and prepare for recovery: Operations complete, final success state" .

:Goal7 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:isPartOfPhase "Recover Robot" ;
  rdfs:comment "Halt and deploy recovery beacon: Unable to continue, final failure state" .

:Goal8 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
  meo:isPartOfPhase "Recover Robot" ;
  rdfs:comment "Halt and await further orders: Unexpected problem, final exception state" .