diff --git a/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_5.env b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_5.env
new file mode 100644
index 000000000..d2e0194b0
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_5.env
@@ -0,0 +1,42 @@
+command:
+- timeout
+- -m=9216000
+- -t=900
+- python3
+- /home/pluehne/Documents/ASP/plasp-javier/encodings/planner/runplanner.py
+- --domain=/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/domain.pddl
+- /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-5.pddl
+- --stats
+- --stats-iter
+- --verbose
+- --print-call
+- -m 8192
+- --madagascar-Mp
+- -F 80
+- -T 80
+configuration:
+  fixedHorizon: true
+  id: m-mp-single-shot
+  instanceSets:
+  - rintanen-aij-2012-interesting
+  options:
+  - --stats
+  - --stats-iter
+  - --verbose
+  - --print-call
+  - -m 8192
+  - --madagascar-Mp
+exitCode: 0
+instance:
+  domain: tidybot-sequential-satisficing
+  instance: 5
+  ipc: ipc-2011
+  planLength: 80
+versions:
+  clingo: 5.2.2
+  fastDownward: 10997:847cdf0069cab0c8841a9958e783d1a7340fe2e9 (2017-11-02 15:10 +0100)
+  planner: f090434475c02dbccc3811039498f2a63a357ddc (2018-02-01 18:15:39 +0100)
+  plasp: 3.1.1
+  python: 3.6.3
+workingDirectory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner
+
diff --git a/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_5.err b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_5.err
new file mode 100644
index 000000000..f2bca062f
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_5.err
@@ -0,0 +1,9 @@
+# configuration: {'id': 'm-mp-single-shot', 'options': ['--stats', '--stats-iter', '--verbose', '--print-call', '-m 8192', '--madagascar-Mp'], 'instanceSets': ['rintanen-aij-2012-interesting'], 'fixedHorizon': True}
+# instance: {'ipc': 'ipc-2011', 'domain': 'tidybot-sequential-satisficing', 'instance': 5, 'planLength': 80}
+# command: ['timeout', '-m=9216000', '-t=900', 'python3', '/home/pluehne/Documents/ASP/plasp-javier/encodings/planner/runplanner.py', '--domain=/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/domain.pddl', '/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-5.pddl', '--stats', '--stats-iter', '--verbose', '--print-call', '-m 8192', '--madagascar-Mp', '-F 80', '-T 80']
+# working directory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner
+# exit code: 0
+# planner call: /home/pluehne/Documents/ASP/madagascar/Mp /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/domain.pddl /home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-5.pddl --stats --stats-iter --verbose -m 8192 -F 80 -T 80
+FINISHED CPU 8.35 MEM 33472 MAXMEM 762032 STALE 0 MAXMEM_RSS 466776
+<time name="ALL">8300</time>
+
diff --git a/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_5.out b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_5.out
new file mode 100644
index 000000000..40fa8d6ad
--- /dev/null
+++ b/m-mp-single-shot/ipc-2011_tidybot-sequential-satisficing_5.out
@@ -0,0 +1,125 @@
+Madagascar 0.99999 01/02/2018 14:46:04 amd64 1-core (no VSIDS)
+Options: file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2011/domains/tidybot-sequential-satisficing/instances/instance-5.pddlignoring --stats
+ignoring --stats-iter
+ignoring --verbose
+ -m 8192 -F 80 -T 80
+Domain: tidybot
+Problem: test
+Parser: 38092 ground actions and 758 state variables
+Invariants: 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14  1.90 secs
+Goal: conjunctive
+Simplified: 16230 ground actions and 339 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 2.46 secs (max SCC size 10)
+Plan type: E-step
+				Allocated 32 MB permanent (total 278 MB)
+Horizon 80: 1325859 variables
+				Allocated 32 MB (total 472 MB)
+SAT (0 ID 1893 decisions 973 conflicts 1325859 variables)
+PLAN FOUND: 80 steps
+STEP 0: finish-object(object3,x4,y5) unpark(pr2,xrel0,yrel0)
+STEP 1: base-right(pr2,x0,x1,y0)
+STEP 2: base-right(pr2,x1,x2,y0)
+STEP 3.0: base-right(pr2,x2,x3,y0)
+STEP 3.1: park(pr2)
+STEP 4: gripper-down(pr2,x3,y0,xrel0,x3,yrel0,yrel1,y0,y1)
+STEP 5: gripper-up(pr2,x3,y0,xrel0,x3,yrel1,yrel0,y1,y0)
+STEP 6: unpark(pr2,xrel0,yrel0)
+STEP 7: base-right(pr2,x3,x4,y0)
+STEP 8: base-right(pr2,x4,x5,y0)
+STEP 9.0: base-right(pr2,x5,x6,y0)
+STEP 9.1: park(pr2)
+STEP 10.0: get-down(pr2,x6,y0,xrel0,x6,yrel0,y0,object0,y1)
+STEP 10.1: unpark(pr2,xrel0,yrel0)
+STEP 11: base-left(pr2,x6,x5,y0)
+STEP 12: base-left(pr2,x5,x4,y0)
+STEP 13: base-down(pr2,x4,y0,y1)
+STEP 14: base-down(pr2,x4,y1,y2)
+STEP 15.0: base-right(pr2,x4,x5,y2)
+STEP 15.1: park(pr2)
+STEP 16: gripper-right(pr2,x5,y2,xrel0,xrel1,x5,x6,yrel0,y2)
+STEP 17: gripper-left(pr2,x5,y2,xrel1,xrel0,x6,x5,yrel0,y2)
+STEP 18: unpark(pr2,xrel0,yrel0)
+STEP 19: base-left(pr2,x5,x4,y2)
+STEP 20.0: base-right(pr2,x4,x5,y2)
+STEP 20.1: park(pr2)
+STEP 21: gripper-right(pr2,x5,y2,xrel0,xrel1,x5,x6,yrel0,y2)
+STEP 22: gripper-down(pr2,x5,y2,xrel1,x6,yrel0,yrel1,y2,y3)
+STEP 23: gripper-up(pr2,x5,y2,xrel1,x6,yrel1,yrel0,y3,y2)
+STEP 24: gripper-left(pr2,x5,y2,xrel1,xrel0,x6,x5,yrel0,y2)
+STEP 25: unpark(pr2,xrel0,yrel0)
+STEP 26: base-left(pr2,x5,x4,y2)
+STEP 27: base-left(pr2,x4,x3,y2)
+STEP 28: base-left(pr2,x3,x2,y2)
+STEP 29: base-left(pr2,x2,x1,y2)
+STEP 30.0: base-down(pr2,x1,y2,y3)
+STEP 30.1: park(pr2)
+STEP 31: gripper-down(pr2,x1,y3,xrel0,x1,yrel0,yrel1,y3,y4)
+STEP 32: gripper-right(pr2,x1,y3,xrel0,xrel1,x1,x2,yrel1,y4)
+STEP 33.0: put-right(pr2,x1,y3,xrel1,x2,yrel1,y4,object0,x3)
+STEP 33.1: gripper-left(pr2,x1,y3,xrel1,xrel0,x2,x1,yrel1,y4)
+STEP 34: finish-object(object0,x3,y4) gripper-up(pr2,x1,y3,xrel0,x1,yrel1,yrel0,y4,y3)
+STEP 35: gripper-up(pr2,x1,y3,xrel0,x1,yrel0,yrel-1,y3,y2)
+STEP 36: gripper-right(pr2,x1,y3,xrel0,xrel1,x1,x2,yrel-1,y2)
+STEP 37.0: get-up(pr2,x1,y3,xrel1,x2,yrel-1,y2,object1,y1)
+STEP 37.1: gripper-left(pr2,x1,y3,xrel1,xrel0,x2,x1,yrel-1,y2)
+STEP 38: gripper-down(pr2,x1,y3,xrel0,x1,yrel-1,yrel0,y2,y3)
+STEP 39: unpark(pr2,xrel0,yrel0)
+STEP 40: base-down(pr2,x1,y3,y4)
+STEP 41: base-right(pr2,x1,x2,y4)
+STEP 42.0: base-left(pr2,x2,x1,y4)
+STEP 42.1: park(pr2)
+STEP 43: gripper-down(pr2,x1,y4,xrel0,x1,yrel0,yrel1,y4,y5)
+STEP 44: gripper-up(pr2,x1,y4,xrel0,x1,yrel1,yrel0,y5,y4)
+STEP 45: unpark(pr2,xrel0,yrel0)
+STEP 46.0: base-right(pr2,x1,x2,y4)
+STEP 46.1: park(pr2)
+STEP 47: gripper-down(pr2,x2,y4,xrel0,x2,yrel0,yrel1,y4,y5)
+STEP 48: gripper-up(pr2,x2,y4,xrel0,x2,yrel1,yrel0,y5,y4)
+STEP 49: unpark(pr2,xrel0,yrel0)
+STEP 50: base-right(pr2,x2,x3,y4)
+STEP 51: base-down(pr2,x3,y4,y5)
+STEP 52.0: base-right(pr2,x3,x4,y5)
+STEP 52.1: park(pr2)
+STEP 53: put-up(pr2,x4,y5,xrel0,x4,yrel0,y5,object1,y4)
+STEP 54: get-left(pr2,x4,y5,xrel0,x4,yrel0,y5,object2,x3)
+STEP 55: put-left(pr2,x4,y5,xrel0,x4,yrel0,y5,object2,x3)
+STEP 56.0: get-up(pr2,x4,y5,xrel0,x4,yrel0,y5,object1,y4)
+STEP 56.1: unpark(pr2,xrel0,yrel0)
+STEP 57: base-left(pr2,x4,x3,y5)
+STEP 58: base-right(pr2,x3,x4,y5)
+STEP 59.0: base-left(pr2,x4,x3,y5)
+STEP 59.1: park(pr2)
+STEP 60: gripper-left(pr2,x3,y5,xrel0,xrel-1,x3,x2,yrel0,y5)
+STEP 61: put-right(pr2,x3,y5,xrel-1,x2,yrel0,y5,object1,x3)
+STEP 62: finish-object(object1,x3,y5) get-right(pr2,x3,y5,xrel-1,x2,yrel0,y5,object2,x3)
+STEP 63: gripper-right(pr2,x3,y5,xrel-1,xrel0,x2,x3,yrel0,y5)
+STEP 64: unpark(pr2,xrel0,yrel0)
+STEP 65.0: base-right(pr2,x3,x4,y5)
+STEP 65.1: park(pr2)
+STEP 66: put-up(pr2,x4,y5,xrel0,x4,yrel0,y5,object2,y4)
+STEP 67: finish-object(object2,x4,y4)
+85 actions in the plan.
+
+
+# statistics in YAML format
+---
+runtime:
+  total: 7.91 # [s]
+  preprocessing: 4.83 # [s]
+maxLearnedClauseLength: 31685
+groundActions:
+  afterParsing: 38092
+  afterPreprocessing: 16230
+stateVariables:
+  afterParsing: 758
+  afterPreprocessing: 339
+stronglyConnectedComponents:
+  maxSize: 10
+plan:
+  found: true
+  length: 80
+  actions: 85
+iterations:
+...
+