%%%%%%%%%      Initial Situation       %%%%%%%%%%
%%%%%%%%% FAULTS and OTHER EXCEPTIONS  %%%%%%%%%%
has_leak(foha).
h(in_state(foha,open),0).
stuck(lfm2,closed).
stuck(rm3,closed).
has_leak(ffha).
h(in_state(ffha,open),0).
stuck(roi345a,closed).
stuck(lm1,closed).
stuck(roha,open).
stuck(fm2,closed).
stuck(lm5,closed).
has_leak(fohb).
h(in_state(fohb,open),0).
stuck_at(fmc3_w53,fmc3_g3,1).
stuck_at(fmc3_w60,fmc3_g2,1).
stuck_at(fmc3_w4,fmc3_g2,1).
%%%%%%%%%%%%     GOALS     %%%%%%%%%%%%%

% Maneuver to be performed: minus_yaw
goal(T,fwd_rcs) :- time(T),
                   h(maneuver_of(minus_yaw,fwd_rcs),T).

goal(T,left_rcs) :- time(T),
                   h(maneuver_of(minus_yaw,left_rcs),T).

goal(T,right_rcs) :- time(T),
                   h(maneuver_of(minus_yaw,right_rcs),T).

