diff --git a/m-mp/ipc-2006_rovers-propositional_39.env b/m-mp/ipc-2006_rovers-propositional_39.env
new file mode 100644
index 000000000..30338cddf
--- /dev/null
+++ b/m-mp/ipc-2006_rovers-propositional_39.env
@@ -0,0 +1,39 @@
+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-2006/domains/rovers-propositional/domain.pddl
+- /home/pluehne/Documents/ASP/pddl-instances/ipc-2006/domains/rovers-propositional/instances/instance-39.pddl
+- --stats
+- --verbose
+- --print-call
+- -m 8192
+- --madagascar-Mp
+configuration:
+  id: m-mp
+  instanceSets:
+  - lpnmr-easy-instances
+  - lpnmr-hard-instances
+  - lpnmr-first-plan-not-serializable
+  - rintanen-aij-2012
+  options:
+  - --stats
+  - --verbose
+  - --print-call
+  - -m 8192
+  - --madagascar-Mp
+exitCode: 0
+instance:
+  domain: rovers-propositional
+  instance: 39
+  ipc: ipc-2006
+versions:
+  clingo: 5.2.2
+  fastDownward: 10997:847cdf0069cab0c8841a9958e783d1a7340fe2e9 (2017-11-02 15:10 +0100)
+  planner: 398fcb36ad9c5a23a8c35820fb4b021802dbc349 (2017-11-30 17:03:27 +0100)
+  plasp: 3.1.1
+  python: 3.6.3
+workingDirectory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner
+
diff --git a/m-mp/ipc-2006_rovers-propositional_39.err b/m-mp/ipc-2006_rovers-propositional_39.err
new file mode 100644
index 000000000..02b284171
--- /dev/null
+++ b/m-mp/ipc-2006_rovers-propositional_39.err
@@ -0,0 +1,9 @@
+# configuration: {'id': 'm-mp', 'options': ['--stats', '--verbose', '--print-call', '-m 8192', '--madagascar-Mp'], 'instanceSets': ['lpnmr-easy-instances', 'lpnmr-hard-instances', 'lpnmr-first-plan-not-serializable', 'rintanen-aij-2012']}
+# instance: {'ipc': 'ipc-2006', 'domain': 'rovers-propositional', 'instance': 39}
+# 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-2006/domains/rovers-propositional/domain.pddl', '/home/pluehne/Documents/ASP/pddl-instances/ipc-2006/domains/rovers-propositional/instances/instance-39.pddl', '--stats', '--verbose', '--print-call', '-m 8192', '--madagascar-Mp']
+# working directory: /home/pluehne/Documents/ASP/plasp-javier/encodings/planner
+# exit code: 0
+# planner call: Mp /home/pluehne/Documents/ASP/pddl-instances/ipc-2006/domains/rovers-propositional/domain.pddl /home/pluehne/Documents/ASP/pddl-instances/ipc-2006/domains/rovers-propositional/instances/instance-39.pddl --stats --verbose -m 8192
+FINISHED CPU 240.35 MEM 0 MAXMEM 1824432 STALE 0 MAXMEM_RSS 857688
+<time name="ALL">240260</time>
+
diff --git a/m-mp/ipc-2006_rovers-propositional_39.out b/m-mp/ipc-2006_rovers-propositional_39.out
new file mode 100644
index 000000000..38c5a4571
--- /dev/null
+++ b/m-mp/ipc-2006_rovers-propositional_39.out
@@ -0,0 +1,100 @@
+Madagascar 0.99999 25/02/2015 09:46:27 amd64 1-core (no VSIDS)
+Options: file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2006/domains/rovers-propositional/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2006/domains/rovers-propositional/instances/instance-39.pddlignoring --stats
+ignoring --verbose
+ -m 8192
+Domain: rover
+Problem: roverprob2006
+Parser: 68047 ground actions and 9252 state variables
+Invariants: 0 1 2 3 4 5 6 7 8 9  0.25 secs
+Goal: conjunctive
+Simplified: 31946 ground actions and 2352 state variables
+Actions: STRIPS
+Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.47 secs (max SCC size 42)
+Plan type: E-step
+				Allocated 32 MB permanent (total 358 MB)
+Horizon 0: 2352 variables
+0 UNSAT (0 decisions 0 conflicts)
+Horizon 5: 248582 variables
+				Allocated 32 MB (total 576 MB)
+Horizon 10: 494812 variables
+Horizon 15: 741042 variables
+Horizon 20: 987272 variables
+Horizon 25: 1233502 variables
+				Allocated 32 MB permanent (total 1282 MB)
+Horizon 30: 1479732 variables
+5 UNSAT (660 decisions 301 conflicts)
+Horizon 35: 1725962 variables
+SAT (2195 decisions 0 conflicts)
+PLAN FOUND: 35 steps
+STEP 0.0: calibrate(rover1,camera13,objective10,waypoint25) calibrate(rover11,camera15,objective13,waypoint0) calibrate(rover12,camera11,objective6,waypoint4) calibrate(rover5,camera7,objective6,waypoint43) navigate(rover0,waypoint60,waypoint39) navigate(rover10,waypoint73,waypoint38) navigate(rover13,waypoint46,waypoint36) navigate(rover2,waypoint47,waypoint89) navigate(rover3,waypoint93,waypoint71) navigate(rover4,waypoint32,waypoint24) navigate(rover6,waypoint16,waypoint71) navigate(rover7,waypoint64,waypoint13) navigate(rover8,waypoint78,waypoint58) navigate(rover9,waypoint63,waypoint44)
+STEP 0.1: navigate(rover1,waypoint25,waypoint17) navigate(rover11,waypoint0,waypoint22) navigate(rover12,waypoint4,waypoint36) navigate(rover5,waypoint43,waypoint75)
+STEP 1.0: calibrate(rover3,camera2,objective3,waypoint71) calibrate(rover7,camera4,objective10,waypoint13) navigate(rover0,waypoint39,waypoint19) navigate(rover10,waypoint38,waypoint62) navigate(rover13,waypoint36,waypoint62) navigate(rover4,waypoint24,waypoint31) navigate(rover5,waypoint75,waypoint8) navigate(rover6,waypoint71,waypoint42) navigate(rover9,waypoint44,waypoint61) sample_soil(rover2,rover2store,waypoint89) sample_soil(rover8,rover8store,waypoint58) take_image(rover1,waypoint17,objective12,camera13,high_res) take_image(rover11,waypoint22,objective2,camera15,low_res) take_image(rover12,waypoint36,objective11,camera11,low_res)
+STEP 1.1: navigate(rover1,waypoint17,waypoint1) navigate(rover11,waypoint22,waypoint64) navigate(rover12,waypoint36,waypoint46) navigate(rover2,waypoint89,waypoint47) navigate(rover3,waypoint71,waypoint21) navigate(rover7,waypoint13,waypoint18) navigate(rover8,waypoint58,waypoint78)
+STEP 2.0: calibrate(rover1,camera13,objective10,waypoint1) calibrate(rover5,camera6,objective13,waypoint8) communicate_image_data(rover1,general,objective12,high_res,waypoint1,waypoint84) communicate_image_data(rover11,general,objective2,low_res,waypoint64,waypoint84) communicate_image_data(rover12,general,objective11,low_res,waypoint46,waypoint84) communicate_soil_data(rover8,general,waypoint58,waypoint78,waypoint84) drop(rover2,rover2store) drop(rover8,rover8store) navigate(rover13,waypoint62,waypoint67) navigate(rover2,waypoint47,waypoint91) navigate(rover4,waypoint31,waypoint38) navigate(rover9,waypoint61,waypoint55) sample_rock(rover5,rover5store,waypoint8) sample_soil(rover0,rover0store,waypoint19) sample_soil(rover10,rover10store,waypoint62) sample_soil(rover3,rover3store,waypoint21) sample_soil(rover6,rover6store,waypoint42) take_image(rover3,waypoint21,objective3,camera2,colour) take_image(rover5,waypoint8,objective13,camera7,low_res) take_image(rover7,waypoint18,objective6,camera4,high_res)
+STEP 2.1: navigate(rover0,waypoint19,waypoint39) navigate(rover1,waypoint1,waypoint8) navigate(rover10,waypoint62,waypoint38) navigate(rover11,waypoint64,waypoint22) navigate(rover12,waypoint46,waypoint45) navigate(rover3,waypoint21,waypoint71) navigate(rover5,waypoint8,waypoint75) navigate(rover6,waypoint42,waypoint71) navigate(rover7,waypoint18,waypoint91) navigate(rover8,waypoint78,waypoint46)
+STEP 3.0: calibrate(rover11,camera15,objective13,waypoint22) calibrate(rover3,camera2,objective3,waypoint71) communicate_image_data(rover7,general,objective6,high_res,waypoint91,waypoint84) communicate_soil_data(rover2,general,waypoint89,waypoint91,waypoint84) drop(rover0,rover0store) drop(rover10,rover10store) drop(rover3,rover3store) drop(rover5,rover5store) drop(rover6,rover6store) navigate(rover0,waypoint39,waypoint60) navigate(rover10,waypoint38,waypoint73) navigate(rover4,waypoint38,waypoint61) navigate(rover5,waypoint75,waypoint43) navigate(rover6,waypoint71,waypoint16) navigate(rover8,waypoint46,waypoint80) sample_rock(rover12,rover12store,waypoint45) sample_rock(rover13,rover13store,waypoint67) sample_rock(rover9,rover9store,waypoint55) sample_soil(rover2,rover2store,waypoint91) take_image(rover1,waypoint8,objective13,camera13,high_res)
+STEP 3.1: navigate(rover1,waypoint8,waypoint1) navigate(rover11,waypoint22,waypoint40) navigate(rover12,waypoint45,waypoint46) navigate(rover13,waypoint67,waypoint62) navigate(rover2,waypoint91,waypoint47) navigate(rover3,waypoint71,waypoint1) navigate(rover7,waypoint91,waypoint18) navigate(rover9,waypoint55,waypoint61)
+STEP 4.0: calibrate(rover7,camera4,objective10,waypoint18) communicate_image_data(rover1,general,objective13,high_res,waypoint1,waypoint84) communicate_image_data(rover3,general,objective3,colour,waypoint1,waypoint84) communicate_rock_data(rover12,general,waypoint45,waypoint46,waypoint84) communicate_soil_data(rover3,general,waypoint21,waypoint1,waypoint84) drop(rover12,rover12store) drop(rover13,rover13store) drop(rover2,rover2store) drop(rover9,rover9store) navigate(rover0,waypoint60,waypoint22) navigate(rover10,waypoint73,waypoint81) navigate(rover13,waypoint62,waypoint36) navigate(rover2,waypoint47,waypoint5) navigate(rover5,waypoint43,waypoint34) navigate(rover6,waypoint16,waypoint3) navigate(rover9,waypoint61,waypoint44) sample_rock(rover4,rover4store,waypoint61) sample_soil(rover3,rover3store,waypoint1) sample_soil(rover8,rover8store,waypoint80) take_image(rover11,waypoint40,objective10,camera15,low_res) take_image(rover3,waypoint1,objective4,camera2,colour)
+STEP 4.1: navigate(rover11,waypoint40,waypoint49) navigate(rover12,waypoint46,waypoint36) navigate(rover4,waypoint61,waypoint38) navigate(rover7,waypoint18,waypoint13) navigate(rover8,waypoint80,waypoint46)
+STEP 5.0: communicate_image_data(rover11,general,objective10,low_res,waypoint49,waypoint84) communicate_image_data(rover3,general,objective4,colour,waypoint1,waypoint84) communicate_soil_data(rover10,general,waypoint62,waypoint81,waypoint84) communicate_soil_data(rover3,general,waypoint1,waypoint1,waypoint84) communicate_soil_data(rover8,general,waypoint80,waypoint46,waypoint84) drop(rover3,rover3store) drop(rover4,rover4store) drop(rover8,rover8store) navigate(rover0,waypoint22,waypoint10) navigate(rover12,waypoint36,waypoint13) navigate(rover13,waypoint36,waypoint46) navigate(rover4,waypoint38,waypoint31) navigate(rover9,waypoint44,waypoint63) sample_soil(rover2,rover2store,waypoint5) sample_soil(rover6,rover6store,waypoint3) take_image(rover5,waypoint34,objective12,camera6,low_res) take_image(rover7,waypoint13,objective1,camera4,high_res)
+STEP 5.1: navigate(rover10,waypoint81,waypoint73) navigate(rover2,waypoint5,waypoint60) navigate(rover3,waypoint1,waypoint71) navigate(rover5,waypoint34,waypoint77) navigate(rover6,waypoint3,waypoint81) navigate(rover7,waypoint13,waypoint64) navigate(rover8,waypoint46,waypoint78)
+STEP 6.0: communicate_image_data(rover7,general,objective1,high_res,waypoint64,waypoint84) communicate_rock_data(rover13,general,waypoint67,waypoint46,waypoint84) communicate_soil_data(rover6,general,waypoint3,waypoint81,waypoint84) communicate_soil_data(rover6,general,waypoint42,waypoint81,waypoint84) drop(rover2,rover2store) drop(rover6,rover6store) navigate(rover0,waypoint10,waypoint77) navigate(rover10,waypoint73,waypoint22) navigate(rover12,waypoint13,waypoint82) navigate(rover3,waypoint71,waypoint79) navigate(rover4,waypoint31,waypoint3) navigate(rover5,waypoint77,waypoint23) navigate(rover9,waypoint63,waypoint37) sample_soil(rover8,rover8store,waypoint78)
+STEP 6.1: navigate(rover13,waypoint46,waypoint58) navigate(rover6,waypoint81,waypoint3) navigate(rover8,waypoint78,waypoint27)
+STEP 7.0: communicate_image_data(rover5,general,objective12,low_res,waypoint23,waypoint84) communicate_image_data(rover5,general,objective13,low_res,waypoint23,waypoint84) communicate_rock_data(rover5,general,waypoint8,waypoint23,waypoint84) drop(rover8,rover8store) navigate(rover10,waypoint22,waypoint40) navigate(rover12,waypoint82,waypoint15) navigate(rover13,waypoint58,waypoint78) navigate(rover3,waypoint79,waypoint31) navigate(rover6,waypoint3,waypoint16) navigate(rover8,waypoint27,waypoint33) sample_rock(rover4,rover4store,waypoint3) sample_rock(rover5,rover5store,waypoint23) sample_rock(rover9,rover9store,waypoint37) sample_soil(rover0,rover0store,waypoint77) sample_soil(rover2,rover2store,waypoint60)
+STEP 7.1: navigate(rover0,waypoint77,waypoint10) navigate(rover2,waypoint60,waypoint33) navigate(rover4,waypoint3,waypoint31) navigate(rover5,waypoint23,waypoint77) navigate(rover9,waypoint37,waypoint1)
+STEP 8.0: communicate_rock_data(rover9,general,waypoint37,waypoint1,waypoint84) communicate_rock_data(rover9,general,waypoint55,waypoint1,waypoint84) communicate_soil_data(rover2,general,waypoint5,waypoint33,waypoint84) communicate_soil_data(rover2,general,waypoint60,waypoint33,waypoint84) communicate_soil_data(rover2,general,waypoint91,waypoint33,waypoint84) communicate_soil_data(rover8,general,waypoint78,waypoint33,waypoint84) drop(rover0,rover0store) drop(rover2,rover2store) drop(rover4,rover4store) drop(rover5,rover5store) drop(rover9,rover9store) navigate(rover0,waypoint10,waypoint8) navigate(rover10,waypoint40,waypoint14) navigate(rover4,waypoint31,waypoint24) navigate(rover5,waypoint77,waypoint34) navigate(rover6,waypoint16,waypoint26) sample_rock(rover12,rover12store,waypoint15) sample_rock(rover13,rover13store,waypoint78) sample_soil(rover3,rover3store,waypoint31)
+STEP 8.1: navigate(rover12,waypoint15,waypoint82) navigate(rover13,waypoint78,waypoint58) navigate(rover2,waypoint33,waypoint60) navigate(rover3,waypoint31,waypoint79) navigate(rover8,waypoint33,waypoint7) navigate(rover9,waypoint1,waypoint17)
+STEP 9.0: communicate_rock_data(rover13,general,waypoint78,waypoint58,waypoint84) communicate_rock_data(rover4,general,waypoint3,waypoint24,waypoint84) communicate_rock_data(rover4,general,waypoint61,waypoint24,waypoint84) communicate_soil_data(rover0,general,waypoint19,waypoint8,waypoint84) communicate_soil_data(rover0,general,waypoint77,waypoint8,waypoint84) drop(rover13,rover13store) drop(rover3,rover3store) navigate(rover12,waypoint82,waypoint13) navigate(rover2,waypoint60,waypoint5) navigate(rover3,waypoint79,waypoint71) navigate(rover5,waypoint34,waypoint43) navigate(rover6,waypoint26,waypoint65) sample_rock(rover9,rover9store,waypoint17) sample_soil(rover0,rover0store,waypoint8) sample_soil(rover10,rover10store,waypoint14) sample_soil(rover8,rover8store,waypoint7)
+STEP 9.1: navigate(rover0,waypoint8,waypoint10) navigate(rover10,waypoint14,waypoint40) navigate(rover13,waypoint58,waypoint46) navigate(rover4,waypoint24,waypoint52) navigate(rover8,waypoint7,waypoint33) navigate(rover9,waypoint17,waypoint1)
+STEP 10.0: communicate_rock_data(rover9,general,waypoint17,waypoint1,waypoint84) communicate_soil_data(rover8,general,waypoint7,waypoint33,waypoint84) drop(rover0,rover0store) drop(rover10,rover10store) drop(rover8,rover8store) navigate(rover0,waypoint10,waypoint22) navigate(rover10,waypoint40,waypoint49) navigate(rover12,waypoint13,waypoint36) navigate(rover13,waypoint46,waypoint36) navigate(rover2,waypoint5,waypoint87) navigate(rover3,waypoint71,waypoint81) navigate(rover4,waypoint52,waypoint11) navigate(rover5,waypoint43,waypoint88) sample_soil(rover6,rover6store,waypoint65)
+STEP 10.1: navigate(rover6,waypoint65,waypoint26) navigate(rover8,waypoint33,waypoint57)
+STEP 11.0: communicate_soil_data(rover10,general,waypoint14,waypoint49,waypoint84) communicate_soil_data(rover3,general,waypoint31,waypoint81,waypoint84) drop(rover6,rover6store) navigate(rover0,waypoint22,waypoint60) navigate(rover12,waypoint36,waypoint46) navigate(rover13,waypoint36,waypoint56) navigate(rover2,waypoint87,waypoint50) navigate(rover5,waypoint88,waypoint91) navigate(rover6,waypoint26,waypoint24) sample_rock(rover4,rover4store,waypoint11) sample_soil(rover8,rover8store,waypoint57)
+STEP 11.1: navigate(rover10,waypoint49,waypoint40) navigate(rover3,waypoint81,waypoint71) navigate(rover4,waypoint11,waypoint52) navigate(rover8,waypoint57,waypoint33)
+STEP 12.0: communicate_rock_data(rover12,general,waypoint15,waypoint46,waypoint84) communicate_rock_data(rover5,general,waypoint23,waypoint91,waypoint84) communicate_soil_data(rover6,general,waypoint65,waypoint24,waypoint84) communicate_soil_data(rover8,general,waypoint57,waypoint33,waypoint84) drop(rover4,rover4store) drop(rover8,rover8store) navigate(rover0,waypoint60,waypoint0) navigate(rover10,waypoint40,waypoint22) navigate(rover3,waypoint71,waypoint41) navigate(rover4,waypoint52,waypoint23) sample_rock(rover13,rover13store,waypoint56) sample_rock(rover5,rover5store,waypoint91) sample_soil(rover2,rover2store,waypoint50)
+STEP 12.1: navigate(rover13,waypoint56,waypoint36) navigate(rover2,waypoint50,waypoint87) navigate(rover5,waypoint91,waypoint88) navigate(rover6,waypoint24,waypoint26) navigate(rover8,waypoint33,waypoint27)
+STEP 13.0: communicate_rock_data(rover4,general,waypoint11,waypoint23,waypoint84) drop(rover2,rover2store) drop(rover5,rover5store) navigate(rover0,waypoint0,waypoint51) navigate(rover10,waypoint22,waypoint73) navigate(rover13,waypoint36,waypoint46) navigate(rover2,waypoint87,waypoint5) navigate(rover3,waypoint41,waypoint85) navigate(rover5,waypoint88,waypoint74) navigate(rover6,waypoint26,waypoint16) navigate(rover8,waypoint27,waypoint78)
+STEP 13.1: navigate(rover4,waypoint23,waypoint77)
+STEP 14.0: communicate_rock_data(rover13,general,waypoint56,waypoint46,waypoint84) navigate(rover0,waypoint51,waypoint90) navigate(rover10,waypoint73,waypoint38) navigate(rover2,waypoint5,waypoint24) navigate(rover6,waypoint16,waypoint6) navigate(rover8,waypoint78,waypoint46) sample_rock(rover4,rover4store,waypoint77) sample_rock(rover5,rover5store,waypoint74) sample_soil(rover3,rover3store,waypoint85)
+STEP 14.1: navigate(rover3,waypoint85,waypoint41) navigate(rover4,waypoint77,waypoint23) navigate(rover5,waypoint74,waypoint88)
+STEP 15.0: communicate_rock_data(rover4,general,waypoint77,waypoint23,waypoint84) communicate_soil_data(rover0,general,waypoint8,waypoint90,waypoint84) communicate_soil_data(rover2,general,waypoint50,waypoint24,waypoint84) drop(rover3,rover3store) navigate(rover10,waypoint38,waypoint11) navigate(rover3,waypoint41,waypoint71) navigate(rover5,waypoint88,waypoint91) navigate(rover8,waypoint46,waypoint45) sample_soil(rover0,rover0store,waypoint90) sample_soil(rover6,rover6store,waypoint6)
+STEP 15.1: navigate(rover2,waypoint24,waypoint5) navigate(rover6,waypoint6,waypoint16)
+STEP 16.0: communicate_rock_data(rover5,general,waypoint74,waypoint91,waypoint84) communicate_rock_data(rover5,general,waypoint91,waypoint91,waypoint84) communicate_soil_data(rover0,general,waypoint90,waypoint90,waypoint84) drop(rover0,rover0store) drop(rover6,rover6store) navigate(rover10,waypoint11,waypoint20) navigate(rover2,waypoint5,waypoint47) navigate(rover3,waypoint71,waypoint81) navigate(rover6,waypoint16,waypoint71) sample_soil(rover8,rover8store,waypoint45)
+STEP 16.1: navigate(rover0,waypoint90,waypoint51) navigate(rover8,waypoint45,waypoint46)
+STEP 17.0: communicate_soil_data(rover3,general,waypoint85,waypoint81,waypoint84) communicate_soil_data(rover8,general,waypoint45,waypoint46,waypoint84) drop(rover8,rover8store) navigate(rover0,waypoint51,waypoint0) navigate(rover2,waypoint47,waypoint91) navigate(rover6,waypoint71,waypoint43) sample_soil(rover10,rover10store,waypoint20)
+STEP 17.1: navigate(rover10,waypoint20,waypoint11) navigate(rover3,waypoint81,waypoint71) navigate(rover8,waypoint46,waypoint80)
+STEP 18.0: drop(rover10,rover10store) navigate(rover0,waypoint0,waypoint60) navigate(rover10,waypoint11,waypoint38) navigate(rover2,waypoint91,waypoint88) navigate(rover3,waypoint71,waypoint93) navigate(rover8,waypoint80,waypoint2) sample_soil(rover6,rover6store,waypoint43)
+STEP 18.1: navigate(rover6,waypoint43,waypoint71)
+STEP 19.0: drop(rover6,rover6store) navigate(rover0,waypoint60,waypoint82) navigate(rover10,waypoint38,waypoint73) navigate(rover2,waypoint88,waypoint74) navigate(rover3,waypoint93,waypoint35) navigate(rover6,waypoint71,waypoint36) sample_soil(rover8,rover8store,waypoint2)
+STEP 19.1: navigate(rover8,waypoint2,waypoint80)
+STEP 20.0: drop(rover8,rover8store) navigate(rover0,waypoint82,waypoint13) navigate(rover10,waypoint73,waypoint81) navigate(rover3,waypoint35,waypoint84) navigate(rover6,waypoint36,waypoint8) navigate(rover8,waypoint80,waypoint46) sample_soil(rover2,rover2store,waypoint74)
+STEP 20.1: navigate(rover2,waypoint74,waypoint88)
+STEP 21.0: communicate_soil_data(rover10,general,waypoint20,waypoint81,waypoint84) communicate_soil_data(rover6,general,waypoint43,waypoint8,waypoint84) communicate_soil_data(rover6,general,waypoint6,waypoint8,waypoint84) communicate_soil_data(rover8,general,waypoint2,waypoint46,waypoint84) drop(rover2,rover2store) navigate(rover2,waypoint88,waypoint91) navigate(rover3,waypoint84,waypoint23) sample_soil(rover0,rover0store,waypoint13)
+STEP 21.1: navigate(rover0,waypoint13,waypoint82) navigate(rover10,waypoint81,waypoint73) navigate(rover6,waypoint8,waypoint36) navigate(rover8,waypoint46,waypoint78)
+STEP 22.0: communicate_soil_data(rover2,general,waypoint74,waypoint91,waypoint84) drop(rover0,rover0store) navigate(rover0,waypoint82,waypoint60) navigate(rover10,waypoint73,waypoint22) navigate(rover6,waypoint36,waypoint71) navigate(rover8,waypoint78,waypoint69) sample_soil(rover3,rover3store,waypoint23)
+STEP 22.1: navigate(rover2,waypoint91,waypoint47)
+STEP 23.0: communicate_soil_data(rover3,general,waypoint23,waypoint23,waypoint84) navigate(rover0,waypoint60,waypoint33) navigate(rover10,waypoint22,waypoint60) navigate(rover2,waypoint47,waypoint31) navigate(rover6,waypoint71,waypoint92) sample_soil(rover8,rover8store,waypoint69)
+STEP 23.1: navigate(rover8,waypoint69,waypoint78)
+STEP 24.0: communicate_soil_data(rover0,general,waypoint13,waypoint33,waypoint84) communicate_soil_data(rover8,general,waypoint69,waypoint78,waypoint84) navigate(rover10,waypoint60,waypoint76) navigate(rover2,waypoint31,waypoint82) sample_soil(rover6,rover6store,waypoint92)
+STEP 24.1: navigate(rover0,waypoint33,waypoint60) navigate(rover6,waypoint92,waypoint71)
+STEP 25.0: navigate(rover0,waypoint60,waypoint0) navigate(rover6,waypoint71,waypoint36) sample_soil(rover10,rover10store,waypoint76) sample_soil(rover2,rover2store,waypoint82)
+STEP 25.1: navigate(rover10,waypoint76,waypoint60) navigate(rover2,waypoint82,waypoint31)
+STEP 26: navigate(rover0,waypoint0,waypoint34) navigate(rover10,waypoint60,waypoint23) navigate(rover2,waypoint31,waypoint47) navigate(rover6,waypoint36,waypoint8)
+STEP 27.0: communicate_soil_data(rover10,general,waypoint76,waypoint23,waypoint84) communicate_soil_data(rover6,general,waypoint92,waypoint8,waypoint84) navigate(rover2,waypoint47,waypoint91) sample_soil(rover0,rover0store,waypoint34)
+STEP 27.1: navigate(rover0,waypoint34,waypoint0)
+STEP 28: communicate_soil_data(rover2,general,waypoint82,waypoint91,waypoint84) navigate(rover0,waypoint0,waypoint51)
+STEP 29: navigate(rover0,waypoint51,waypoint81)
+STEP 30: communicate_soil_data(rover0,general,waypoint34,waypoint81,waypoint84)
+415 actions in the plan.
+total time 239.83 preprocess 236.07 
+total size 1.703 GB
+max. learned clause length 1322
+t val conflicts decisions
+0 0 0 0
+5 0 301 660
+10 -1 361 1716
+15 -1 301 2452
+20 -1 241 2347
+25 -1 180 1508
+30 -1 120 1100
+35 1 0 2195
+