diff --git a/m-mpc/ipc-2002_depots-strips-automatic_20.env b/m-mpc/ipc-2002_depots-strips-automatic_20.env
new file mode 100644
index 000000000..fb3fbe742
--- /dev/null
+++ b/m-mpc/ipc-2002_depots-strips-automatic_20.env
@@ -0,0 +1,35 @@
+command:
+- timeout
+- -m=8000000
+- -t=900
+- python3
+- /home/pluehne/Documents/ASP/plasp-javier/encodings/planner/runplanner.py
+- --domain=/home/pluehne/Documents/ASP/pddl-instances/ipc-2002/domains/depots-strips-automatic/domain.pddl
+- /home/pluehne/Documents/ASP/pddl-instances/ipc-2002/domains/depots-strips-automatic/instances/instance-20.pddl
+- --stats
+- --verbose
+- --print-call
+- --madagascar-MpC
+configuration:
+  id: m-mpc
+  instanceSets:
+  - lpnmr-easy-instances
+  - lpnmr-hard-instances
+  options:
+  - --stats
+  - --verbose
+  - --print-call
+  - --madagascar-MpC
+exitCode: 0
+instance:
+  domain: depots-strips-automatic
+  instance: 20
+  ipc: ipc-2002
+versions:
+  clingo: 5.2.2
+  fastDownward: 10997:847cdf0069cab0c8841a9958e783d1a7340fe2e9 (2017-11-02 15:10 +0100)
+  planner: 517f2c0422a36582df17ecebb08e879b170cdfe2 (2017-11-21 02:23:06 +0100)
+  plasp: 3.1.1
+  python: 3.6.3
+workingDirectory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner
+
diff --git a/m-mpc/ipc-2002_depots-strips-automatic_20.err b/m-mpc/ipc-2002_depots-strips-automatic_20.err
new file mode 100644
index 000000000..74404b988
--- /dev/null
+++ b/m-mpc/ipc-2002_depots-strips-automatic_20.err
@@ -0,0 +1,9 @@
+# configuration: {'id': 'm-mpc', 'options': ['--stats', '--verbose', '--print-call', '--madagascar-MpC'], 'instanceSets': ['lpnmr-easy-instances', 'lpnmr-hard-instances']}
+# instance: {'ipc': 'ipc-2002', 'domain': 'depots-strips-automatic', 'instance': 20}
+# command: ['timeout', '-m=8000000', '-t=900', 'python3', '/home/pluehne/Documents/ASP/plasp-javier/encodings/planner/runplanner.py', '--domain=/home/pluehne/Documents/ASP/pddl-instances/ipc-2002/domains/depots-strips-automatic/domain.pddl', '/home/pluehne/Documents/ASP/pddl-instances/ipc-2002/domains/depots-strips-automatic/instances/instance-20.pddl', '--stats', '--verbose', '--print-call', '--madagascar-MpC']
+# working directory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner
+# exit code: 0
+# planner call: MpC /home/pluehne/Documents/ASP/pddl-instances/ipc-2002/domains/depots-strips-automatic/domain.pddl /home/pluehne/Documents/ASP/pddl-instances/ipc-2002/domains/depots-strips-automatic/instances/instance-20.pddl --stats --verbose
+FINISHED CPU 1.14 MEM 30288 MAXMEM 585804 STALE 1 MAXMEM_RSS 145144
+<time name="ALL">1070</time>
+
diff --git a/m-mpc/ipc-2002_depots-strips-automatic_20.out b/m-mpc/ipc-2002_depots-strips-automatic_20.out
new file mode 100644
index 000000000..63723f1e5
--- /dev/null
+++ b/m-mpc/ipc-2002_depots-strips-automatic_20.out
@@ -0,0 +1,68 @@
+Madagascar 0.99999 25/02/2015 09:45:59 amd64 1-core (no VSIDS)
+Options: file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2002/domains/depots-strips-automatic/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2002/domains/depots-strips-automatic/instances/instance-20.pddlignoring --stats
+ignoring --verbose
+
+Domain: depot
+Problem: depotprob7615
+Parser: 55936 ground actions and 884 state variables
+Invariants: 0 1 2 3 4  0.19 secs
+Goal: conjunctive
+Simplified: 4964 ground actions and 740 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.24 secs (max SCC size 1)
+Plan type: E-step
+				Allocated 32 MB permanent (total 164 MB)
+Horizon 5: 29260 variables
+5 UNSAT (0 decisions 0 conflicts)
+Horizon 7: 40668 variables
+7 UNSAT (0 decisions 0 conflicts)
+Horizon 10: 57780 variables
+				Allocated 32 MB (total 436 MB)
+10 UNSAT (3 decisions 3 conflicts)
+Horizon 14: 80596 variables
+Horizon 20: 114820 variables
+SAT (445 decisions 53 conflicts)
+PLAN FOUND: 20 steps
+STEP 0: drive(truck1,depot0,depot3) drive(truck3,distributor1,distributor3) lift(hoist0,crate13,crate4,depot0) lift(hoist1,crate14,crate12,depot1) lift(hoist3,crate5,crate2,depot3) lift(hoist5,crate9,crate1,distributor1) lift(hoist6,crate8,crate7,distributor2) lift(hoist7,crate10,crate0,distributor3)
+STEP 1.0: drop(hoist0,crate13,crate4,depot0) drop(hoist5,crate9,crate1,distributor1) load(hoist1,crate14,truck2,depot1) load(hoist3,crate5,truck1,depot3) load(hoist6,crate8,truck0,distributor2) load(hoist7,crate10,truck3,distributor3)
+STEP 1.1: drive(truck1,depot3,distributor3) drive(truck2,depot1,depot0) drive(truck3,distributor3,depot1)
+STEP 2.0: lift(hoist1,crate12,crate6,depot1) lift(hoist3,crate2,pallet3,depot3) lift(hoist5,crate9,crate1,distributor1) lift(hoist6,crate7,pallet6,distributor2) lift(hoist7,crate0,pallet7,distributor3) unload(hoist0,crate14,truck2,depot0)
+STEP 2.1: drive(truck2,depot0,depot3)
+STEP 3.0: drop(hoist0,crate14,crate13,depot0) load(hoist1,crate12,truck3,depot1) load(hoist3,crate2,truck2,depot3) load(hoist6,crate7,truck0,distributor2) load(hoist7,crate0,truck1,distributor3)
+STEP 3.1: drive(truck0,distributor2,distributor3) drive(truck1,distributor3,depot0) drive(truck2,depot3,distributor2) drive(truck3,depot1,distributor1)
+STEP 4.0: lift(hoist1,crate6,pallet1,depot1) load(hoist5,crate9,truck3,distributor1) unload(hoist0,crate5,truck1,depot0) unload(hoist6,crate2,truck2,distributor2) unload(hoist7,crate8,truck0,distributor3)
+STEP 4.1: drive(truck0,distributor3,depot0) drive(truck1,depot0,depot3) drive(truck2,distributor2,depot0)
+STEP 5.0: drive(truck0,depot0,depot2) drop(hoist0,crate5,crate14,depot0) drop(hoist1,crate6,crate11,depot1) drop(hoist6,crate2,pallet6,distributor2) drop(hoist7,crate8,pallet7,distributor3) lift(hoist5,crate1,pallet5,distributor1) unload(hoist3,crate0,truck1,depot3)
+STEP 5.1: drive(truck1,depot3,depot1)
+STEP 6.0: drop(hoist3,crate0,pallet3,depot3) lift(hoist0,crate5,crate14,depot0) lift(hoist1,crate6,crate11,depot1) load(hoist5,crate1,truck3,distributor1) unload(hoist2,crate7,truck0,depot2)
+STEP 6.1: drive(truck0,depot2,depot0) drive(truck3,distributor1,distributor3)
+STEP 7.0: drop(hoist2,crate7,pallet2,depot2) lift(hoist3,crate0,pallet3,depot3) load(hoist0,crate5,truck2,depot0) load(hoist1,crate6,truck1,depot1) unload(hoist7,crate1,truck3,distributor3)
+STEP 7.1: drive(truck1,depot1,distributor0) drive(truck2,depot0,distributor0)
+STEP 8.0: drive(truck2,distributor0,distributor3) drop(hoist3,crate0,pallet3,depot3) lift(hoist0,crate14,crate13,depot0) lift(hoist1,crate11,pallet8,depot1) unload(hoist4,crate6,truck1,distributor0)
+STEP 8.1: drive(truck1,distributor0,depot1)
+STEP 9.0: drop(hoist4,crate6,pallet4,distributor0) load(hoist0,crate14,truck0,depot0) load(hoist1,crate11,truck1,depot1) load(hoist7,crate1,truck2,distributor3)
+STEP 9.1: drive(truck0,depot0,depot1) drive(truck1,depot1,distributor1) drive(truck2,distributor3,distributor0)
+STEP 10.0: lift(hoist0,crate13,crate4,depot0) unload(hoist1,crate14,truck0,depot1) unload(hoist4,crate5,truck2,distributor0) unload(hoist5,crate11,truck1,distributor1) unload(hoist7,crate9,truck3,distributor3)
+STEP 10.1: drive(truck0,depot1,depot0) drive(truck1,distributor1,distributor0) drive(truck2,distributor0,distributor1) drive(truck3,distributor3,distributor0)
+STEP 11.0: drop(hoist1,crate14,pallet1,depot1) drop(hoist5,crate11,pallet5,distributor1) drop(hoist7,crate9,crate8,distributor3) load(hoist0,crate13,truck0,depot0) load(hoist4,crate5,truck1,distributor0)
+STEP 11.1: drive(truck0,depot0,distributor2) drive(truck1,distributor0,depot1)
+STEP 12.0: lift(hoist0,crate4,crate3,depot0) unload(hoist1,crate5,truck1,depot1) unload(hoist4,crate12,truck3,distributor0) unload(hoist5,crate1,truck2,distributor1) unload(hoist6,crate13,truck0,distributor2)
+STEP 12.1: drive(truck0,distributor2,depot0) drive(truck2,distributor1,depot0)
+STEP 13.0: drop(hoist1,crate5,crate14,depot1) drop(hoist4,crate12,crate6,distributor0) drop(hoist5,crate1,crate11,distributor1) drop(hoist6,crate13,crate2,distributor2) load(hoist0,crate4,truck0,depot0)
+STEP 13.1: drive(truck0,depot0,depot1)
+STEP 14: lift(hoist0,crate3,pallet0,depot0) unload(hoist1,crate4,truck0,depot1)
+STEP 15.0: drop(hoist1,crate4,crate5,depot1) load(hoist0,crate3,truck2,depot0)
+STEP 15.1: drive(truck2,depot0,depot3)
+STEP 16: unload(hoist3,crate3,truck2,depot3)
+STEP 17: drop(hoist3,crate3,crate0,depot3)
+112 actions in the plan.
+total time 0.80 preprocess 0.56 
+total size 0.716 GB
+max. learned clause length 3689
+t val conflicts decisions
+5 0 0 0
+7 0 0 0
+10 0 3 3
+14 -1 120 484
+20 1 53 445
+