diff --git a/missions/avcl/SailorOverboard.xml b/missions/avcl/SailorOverboard.xml
index abbee886abd4ca009be509c94cd1b1bab4ace15b..85afd1b23a615bcbb97a9093ff166bb2144e0a24 100644
--- a/missions/avcl/SailorOverboard.xml
+++ b/missions/avcl/SailorOverboard.xml
@@ -1,123 +1,123 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<AVCL version="3.0" vehicleName="RescueDrone" vehicleType="UAV" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../schemas/AVCL.3.0.xsd">
- <head>
- <meta name="title" content="SailorOverboard.xml"/>
- <meta name="description" content="AVCL mission to perform SAILOR OVERBOARD operations, carried out in concert with shipboard emergency procedures."/>
- <meta name="created" content="19 November 2019"/>
- <meta name="modified" content="31 December 2019"/>
- <meta name="creator" content="Don Brutzman"/>
- <meta name="reference" content="https://wiki.nps.edu/display/NOW/Ethical+Control+of+Unmanned+Systems"/>
- <meta name="Image" content="https://gitlab.nps.edu/Savage/EthicalControl/raw/master/missions/SailorOverboard8PhaseMission.png"/>
- <meta name="generator" content="Altova XMLSpy, https://www.altova.com"/>
- <meta name="generator" content="Apache NetBeans, https://netbeans.apache.org"/>
- <meta name="generator" content="NPS Autonomous Unmanned Vehicle (AUV) Workbench, https://savage.nps.edu/AuvWorkbench"/>
- <meta name="identifier" content="https://gitlab.nps.edu/Savage/EthicalControl/tree/master/missions/avcl/SailorOverboard.xml"/>
- <meta name="license" content="../license.html"/>
- </head>
- <body>
- <MissionPreparation>
- <UnitsOfMeasure distance="meters" angle="degrees" mass="kilograms" time="seconds"/>
- <AgendaMission>
- <LaunchPosition id="LaunchPosition" description="Ship position when robot is launched">
- <LatitudeLongitude latitude="0" longitude="0"/>
- </LaunchPosition>
- <RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot">
- <LatitudeLongitude latitude="0" longitude="0"/>
- </RecoveryPosition>
- <GoalList>
- <Goal id="Goal1" title="Deploy, Launch" description="Sailor Overboard Immediate Action" phase="Launch" nextOnSuccess="Goal2" nextOnFailure="Goal2" nextOnException="Goal5">
- <Rendezvous description="">
- <TargetVehicleID value="101" description="Sailor in water"/>
- </Rendezvous>
- <OperatingArea>
- <Point>
- <LatitudeLongitude latitude="36.62" longitude="121.506"/>
- <!--36°36′11″N 121°53′37″W-->
- </Point>
- </OperatingArea>
- <Duration value="300"/>
- <ReportingCriteria value="onCommence"/>
- <ReportingCriteria value="periodic"/>
- <ReportingCriteria value="statusChanged"/>
- <ReportingCriteria value="onComplete"/>
- </Goal>
- <Goal id="Goal2" title="Rendezvous with Sailor" description="Go directly to best known location" phase="Locate" nextOnSuccess="Goal4" nextOnFailure="Goal3" nextOnException="Goal5">
- <Search datumType="point" requiredPD="0.5">
- <Target name="Sailor in water" id="SailorInWater"/>
- </Search>
- <OperatingArea>
- <Point>
- <LatitudeLongitude latitude="0" longitude="0"/>
- </Point>
- </OperatingArea>
- <Duration value="6000"/>
- </Goal>
- <Goal id="Goal3" title="Search for Sailor " description="Sailor position not known, intermittent" phase="Locate" nextOnSuccess="Goal4" nextOnFailure="Goal5" nextOnException="Goal5">
- <MarkTarget description="TODO ensure beacon/pinger in water">
- <Marker type="dyeMarker"/>
- <Target name="Sailor in water" id="SailorInWater2" description="TODO need refid to avoid duplicatess and have single reference"/>
- </MarkTarget>
- <OperatingArea>
- <Point>
- <LatitudeLongitude latitude="0" longitude="0"/>
- </Point>
- </OperatingArea>
- <Duration value="6000"/>
- </Goal>
- <Goal id="Goal4" title="Track Sailor afloat until safe" description="Watch closely, not to interfere with rescue operations" phase="Track" nextOnSuccess="Goal5" nextOnFailure="Goal5" nextOnException="Goal5">
- <MonitorTransmissions xsi:type="monitorTransmissionsElementType" description="Track sailor in water"/>
- <OperatingArea>
- <Point>
- <LatitudeLongitude latitude="0" longitude="0"/>
- </Point>
- </OperatingArea>
- <Duration value="6000"/>
- </Goal>
- <Goal id="Goal5" title="Proceed to Recovery" description="Mission complete, prepare for pickup" phase="Mission Finish" nextOnSuccess="Goal6" nextOnFailure="Goal2" nextOnException="Goal6">
- <Reposition description="Return to ship or other recovery point">
- </Reposition>
- <OperatingArea>
- <Point>
- <LatitudeLongitude latitude="0" longitude="0"/>
- </Point>
- </OperatingArea>
- <Duration value="6000"/>
- </Goal>
- <Goal id="Goal6" title="Halt and prepare for recovery" phase="Recover Robot" description="Operations complete, final success state">
- <Rendezvous description="">
- <TargetVehicleID value="102" description="Recovery ship"/>
- </Rendezvous>
- <OperatingArea>
- <Point>
- <LatitudeLongitude latitude="0" longitude="0"/>
- </Point>
- </OperatingArea>
- <Duration value="6000"/>
- </Goal>
- <Goal id="Goal7" title="Halt and deploy recovery beacon" phase="Recover Robot" description="Unable to continue, final failure state">
- <Rendezvous description="">
- <TargetVehicleID value="102" description="Recovery ship"/>
- </Rendezvous>
- <OperatingArea>
- <Point>
- <LatitudeLongitude latitude="0" longitude="0"/>
- </Point>
- </OperatingArea>
- <Duration value="6000"/>
- </Goal>
- <Goal id="Goal8" title="Halt and await further orders" phase="Recover Robot" description="Unexpected problem, final exception state">
- <Rendezvous description="">
- <TargetVehicleID value="102" description="Recovery ship"/>
- </Rendezvous>
- <OperatingArea>
- <Point>
- <LatitudeLongitude latitude="0" longitude="0"/>
- </Point>
- </OperatingArea>
- <Duration value="6000"/>
- </Goal>
- </GoalList>
- </AgendaMission>
- </MissionPreparation>
- </body>
-</AVCL>
+<?xml version="1.0" encoding="UTF-8"?>
+<AVCL version="3.0" vehicleName="RescueDrone" vehicleType="UAV" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="../../schemas/AVCL.3.0.xsd">
+ <head>
+ <meta name="title" content="SailorOverboard.xml"/>
+ <meta name="description" content="AVCL mission to perform SAILOR OVERBOARD operations, carried out in concert with shipboard emergency procedures."/>
+ <meta name="created" content="19 November 2019"/>
+ <meta name="modified" content="9 June 2022"/>
+ <meta name="creator" content="Don Brutzman"/>
+ <meta name="reference" content="https://wiki.nps.edu/display/NOW/Ethical+Control+of+Unmanned+Systems"/>
+ <meta name="Image" content="https://gitlab.nps.edu/Savage/EthicalControl/raw/master/missions/SailorOverboard8PhaseMission.png"/>
+ <meta name="generator" content="Altova XMLSpy, https://www.altova.com"/>
+ <meta name="generator" content="Apache NetBeans, https://netbeans.apache.org"/>
+ <meta name="generator" content="NPS Autonomous Unmanned Vehicle (AUV) Workbench, https://savage.nps.edu/AuvWorkbench"/>
+ <meta name="identifier" content="https://gitlab.nps.edu/Savage/EthicalControl/tree/master/missions/avcl/SailorOverboard.xml"/>
+ <meta name="license" content="../license.html"/>
+ </head>
+ <body>
+ <MissionPreparation>
+ <UnitsOfMeasure distance="meters" angle="degrees" mass="kilograms" time="seconds"/>
+ <AgendaMission>
+ <LaunchPosition id="LaunchPosition" description="Ship position when robot is launched">
+ <LatitudeLongitude latitude="0" longitude="0"/>
+ </LaunchPosition>
+ <RecoveryPosition id="RecoveryPosition" description="Ship position when ready to recover robot">
+ <LatitudeLongitude latitude="0" longitude="0"/>
+ </RecoveryPosition>
+ <GoalList>
+ <Goal id="Goal1" title="Deploy, Launch" description="Sailor Overboard Immediate Action" phase="Launch" nextOnSuccess="Goal2" nextOnFailure="Goal7" nextOnException="Goal8">
+ <Rendezvous description="">
+ <TargetVehicleID value="101" description="Sailor in water"/>
+ </Rendezvous>
+ <OperatingArea>
+ <Point>
+ <LatitudeLongitude latitude="36.62" longitude="121.506"/>
+ <!--36°36′11″N 121°53′37″W-->
+ </Point>
+ </OperatingArea>
+ <Duration value="300"/>
+ <ReportingCriteria value="onCommence"/>
+ <ReportingCriteria value="periodic"/>
+ <ReportingCriteria value="statusChanged"/>
+ <ReportingCriteria value="onComplete"/>
+ </Goal>
+ <Goal id="Goal2" title="Rendezvous with Sailor" description="Go directly to best known location" phase="Locate" nextOnSuccess="Goal4" nextOnFailure="Goal3" nextOnException="Goal5">
+ <Search datumType="point" requiredPD="0.5">
+ <Target name="Sailor in water" id="SailorInWater"/>
+ </Search>
+ <OperatingArea>
+ <Point>
+ <LatitudeLongitude latitude="0" longitude="0"/>
+ </Point>
+ </OperatingArea>
+ <Duration value="6000"/>
+ </Goal>
+ <Goal id="Goal3" title="Search for Sailor " description="Sailor position not known, intermittent" phase="Locate" nextOnSuccess="Goal4" nextOnFailure="Goal5" nextOnException="Goal5">
+ <MarkTarget description="TODO ensure beacon/pinger in water">
+ <Marker type="dyeMarker"/>
+ <Target name="Sailor in water" id="SailorInWater2" description="TODO need refid to avoid duplicatess and have single reference"/>
+ </MarkTarget>
+ <OperatingArea>
+ <Point>
+ <LatitudeLongitude latitude="0" longitude="0"/>
+ </Point>
+ </OperatingArea>
+ <Duration value="6000"/>
+ </Goal>
+ <Goal id="Goal4" title="Track Sailor afloat until safe" description="Watch closely, not to interfere with rescue operations" phase="Track" nextOnSuccess="Goal5" nextOnFailure="Goal5" nextOnException="Goal5">
+ <MonitorTransmissions xsi:type="monitorTransmissionsElementType" description="Track sailor in water"/>
+ <OperatingArea>
+ <Point>
+ <LatitudeLongitude latitude="0" longitude="0"/>
+ </Point>
+ </OperatingArea>
+ <Duration value="6000"/>
+ </Goal>
+ <Goal id="Goal5" title="Proceed to Recovery" description="Mission complete, prepare for pickup" phase="Mission Finish" nextOnSuccess="Goal6" nextOnFailure="Goal7" nextOnException="Goal8">
+ <Reposition description="Return to ship or other recovery point">
+ </Reposition>
+ <OperatingArea>
+ <Point>
+ <LatitudeLongitude latitude="0" longitude="0"/>
+ </Point>
+ </OperatingArea>
+ <Duration value="6000"/>
+ </Goal>
+ <Goal id="Goal6" title="Halt and prepare for recovery" phase="Recover Robot" description="Operations complete, final success state">
+ <Rendezvous description="">
+ <TargetVehicleID value="102" description="Recovery ship"/>
+ </Rendezvous>
+ <OperatingArea>
+ <Point>
+ <LatitudeLongitude latitude="0" longitude="0"/>
+ </Point>
+ </OperatingArea>
+ <Duration value="6000"/>
+ </Goal>
+ <Goal id="Goal7" title="Halt and deploy recovery beacon" phase="Recover Robot" description="Unable to continue, final failure state">
+ <Rendezvous description="">
+ <TargetVehicleID value="102" description="Recovery ship"/>
+ </Rendezvous>
+ <OperatingArea>
+ <Point>
+ <LatitudeLongitude latitude="0" longitude="0"/>
+ </Point>
+ </OperatingArea>
+ <Duration value="6000"/>
+ </Goal>
+ <Goal id="Goal8" title="Halt and await further orders" phase="Recover Robot" description="Unexpected problem, final exception state">
+ <Rendezvous description="">
+ <TargetVehicleID value="102" description="Recovery ship"/>
+ </Rendezvous>
+ <OperatingArea>
+ <Point>
+ <LatitudeLongitude latitude="0" longitude="0"/>
+ </Point>
+ </OperatingArea>
+ <Duration value="6000"/>
+ </Goal>
+ </GoalList>
+ </AgendaMission>
+ </MissionPreparation>
+ </body>
+</AVCL>
diff --git a/missions/lisp/SailorOverboardConverted.cl b/missions/lisp/SailorOverboardConverted.cl
index ca99887e80fc249922e9851dabcfcec8c2e7b265..d458506c18ad44d78b7eb8ef0aab7e775a0d3997 100644
--- a/missions/lisp/SailorOverboardConverted.cl
+++ b/missions/lisp/SailorOverboardConverted.cl
@@ -115,7 +115,7 @@
(setf terminal-goal-list '(goalGoal6 goalGoal7 goalGoal8))
(initialize-goal goalGoal1 "Goal1: Deploy, Launch - Sailor Overboard Immediate Action"
- '(("Success." goalGoal2) ("Failed." goalGoal2) ("Exception." goalGoal5)))
+ '(("Success." goalGoal2) ("Failed." goalGoal7) ("Exception." goalGoal8)))
(initialize-goal goalGoal2 "Goal2: Rendezvous with Sailor - Go directly to best known location"
'(("Success." goalGoal4) ("Failed." goalGoal3) ("Exception." goalGoal5)))
@@ -127,7 +127,7 @@
'(("Success." goalGoal5) ("Failed." goalGoal5) ("Exception." goalGoal5)))
(initialize-goal goalGoal5 "Goal5: Proceed to Recovery - Mission complete, prepare for pickup"
- '(("Success." goalGoal6) ("Failed." goalGoal2) ("Exception." goalGoal6)))
+ '(("Success." goalGoal6) ("Failed." goalGoal7) ("Exception." goalGoal8)))
(initialize-goal goalGoal6 "Goal6: Halt and prepare for recovery - Operations complete, final success state" nil)
diff --git a/missions/prolog/SailorOverboardConverted.pl b/missions/prolog/SailorOverboardConverted.pl
index fb4109ccf439a5d9760f0ce01ad62b188d7829ca..32f347472507fa37c139e4b65c1341f755325627 100644
--- a/missions/prolog/SailorOverboardConverted.pl
+++ b/missions/prolog/SailorOverboardConverted.pl
@@ -16,8 +16,8 @@
(<-- (execute_goal 'Goal1) (command "Goal1: Deploy, Launch - Sailor Overboard Immediate Action") (update_outcome) ; initial goal, by default
(current_goal_outcome s) (change_goal 'Goal1 'Goal2))
-(<- (execute_goal 'Goal1) (current_goal_outcome f) (change_goal 'Goal1 'Goal2))
-(<- (execute_goal 'Goal1) (current_goal_outcome x) (change_goal 'Goal1 'Goal5))
+(<- (execute_goal 'Goal1) (current_goal_outcome f) (change_goal 'Goal1 'Goal7))
+(<- (execute_goal 'Goal1) (current_goal_outcome x) (change_goal 'Goal1 'Goal8))
(<- (execute_goal 'Goal2) (command "Goal2: Rendezvous with Sailor - Go directly to best known location") (update_outcome)
(current_goal_outcome s) (change_goal 'Goal2 'Goal4))
(<- (execute_goal 'Goal2) (current_goal_outcome f) (change_goal 'Goal2 'Goal3))
@@ -32,8 +32,8 @@
(<- (execute_goal 'Goal4) (current_goal_outcome x) (change_goal 'Goal4 'Goal5))
(<- (execute_goal 'Goal5) (command "Goal5: Proceed to Recovery - Mission complete, prepare for pickup") (update_outcome)
(current_goal_outcome s) (change_goal 'Goal5 'Goal6))
-(<- (execute_goal 'Goal5) (current_goal_outcome f) (change_goal 'Goal5 'Goal2))
-(<- (execute_goal 'Goal5) (current_goal_outcome x) (change_goal 'Goal5 'Goal6))
+(<- (execute_goal 'Goal5) (current_goal_outcome f) (change_goal 'Goal5 'Goal7))
+(<- (execute_goal 'Goal5) (current_goal_outcome x) (change_goal 'Goal5 'Goal8))
(<- (execute_goal 'Goal6) (command "Goal6: Halt and prepare for recovery - Operations complete, final success state") (update_outcome)
(current_goal_outcome s) (change_goal 'Goal6 'mission_complete))
(<- (execute_goal 'Goal6) (current_goal_outcome f) (change_goal 'Goal6 'mission_abort))
diff --git a/missions/turtle/SailorOverboardConverted.ttl b/missions/turtle/SailorOverboardConverted.ttl
index 83919a614e08c3c732861ea6fb25d433c9021145..ab855bd7573ab42cc2af26d89c0fc931302aaa68 100644
--- a/missions/turtle/SailorOverboardConverted.ttl
+++ b/missions/turtle/SailorOverboardConverted.ttl
@@ -22,8 +22,8 @@ owl:imports <https://savage.nps.edu/EthicalControl/ontologies/MissionExecutionOn
:Goal1 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
meo:hasNextOnSuccess :Goal2 ;
- meo:hasNextOnFailure :Goal2 ;
- meo:hasNextOnException :Goal5 ;
+ meo:hasNextOnFailure :Goal7 ;
+ meo:hasNextOnException :Goal8 ;
meo:isPartOfPhase "Launch" ;
rdfs:comment "Deploy, Launch: Sailor Overboard Immediate Action" .
@@ -50,8 +50,8 @@ owl:imports <https://savage.nps.edu/EthicalControl/ontologies/MissionExecutionOn
:Goal5 rdf:type owl:NamedIndividual , owl:Thing , meo:Goal ;
meo:hasNextOnSuccess :Goal6 ;
- meo:hasNextOnFailure :Goal2 ;
- meo:hasNextOnException :Goal6 ;
+ meo:hasNextOnFailure :Goal7 ;
+ meo:hasNextOnException :Goal8 ;
meo:isPartOfPhase "Mission Finish" ;
rdfs:comment "Proceed to Recovery: Mission complete, prepare for pickup" .