Perform Mission Execution Ontology query queries/MissionQuery_02_InitialGoal.rq
  using turtle form of AVCL mission      missions/turtle/LifeboatTrackingConverted.ttl
  to produce output log file             queries/LifeboatTrackingConverted.MissionQuery_02_InitialGoal.rq.txt
===========================
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#>

# TODO does @base simplify the variable outputs?
# @base <https://savage.nps.edu/ontologies/MissionExecutionOntology/missions> 

# MissionQuery_02_InitialGoal.rq
# Query Mission to find initial Goal that it startsWith.

SELECT ?Mission ?InitialGoal ?isPartOfPhase ?goalDescription

WHERE
{
	?Mission a meo:Mission ;   # Shorthand expression: a = rdf:type
             meo:startsWith    ?InitialGoal .

    OPTIONAL                   # provide results even when no value is provided
    {
      ?InitialGoal meo:isPartOfPhase  ?isPartOfPhase ;
                   rdfs:comment       ?goalDescription .
    }
}
ORDER BY ?InitialGoal # should be singleton
-----------------------------------------------------------------------------------------------
| Mission           | InitialGoal | isPartOfPhase | goalDescription                           |
===============================================================================================
| :LifeboatTracking | :LBT1.0     | "Launch"      | "Deploy, Launch: Commit to robot support" |
-----------------------------------------------------------------------------------------------