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-24.pddlignoring --stats
ignoring --verbose
 -m 8192
Domain: rover
Problem: roverprob1234
Parser: 9450 ground actions and 2644 state variables
Invariants: 0 1 2 3 4 5 6 7  0.02 secs
Goal: conjunctive
Simplified: 5782 ground actions and 701 state variables
Actions: STRIPS
Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.01 secs (max SCC size 24)
Plan type: E-step
				Allocated 32 MB permanent (total 154 MB)
Horizon 0: 701 variables
0 UNSAT (0 decisions 0 conflicts)
Horizon 5: 45631 variables
				Allocated 32 MB (total 344 MB)
5 UNSAT (66 decisions 56 conflicts)
Horizon 10: 90561 variables
Horizon 15: 135491 variables
Horizon 20: 180421 variables
SAT (739 decisions 0 conflicts)
PLAN FOUND: 20 steps
STEP 0.0: calibrate(rover3,camera6,objective1,waypoint0) calibrate(rover3,camera7,objective7,waypoint0) navigate(rover1,waypoint30,waypoint19) navigate(rover2,waypoint10,waypoint4) navigate(rover4,waypoint38,waypoint20) navigate(rover5,waypoint29,waypoint6) navigate(rover6,waypoint26,waypoint4) sample_rock(rover0,rover0store,waypoint21) sample_rock(rover3,rover3store,waypoint0) sample_soil(rover7,rover7store,waypoint34)
STEP 0.1: navigate(rover0,waypoint21,waypoint0) navigate(rover3,waypoint0,waypoint23) navigate(rover7,waypoint34,waypoint0)
STEP 1.0: communicate_rock_data(rover3,general,waypoint0,waypoint23,waypoint3) drop(rover0,rover0store) drop(rover3,rover3store) drop(rover7,rover7store) navigate(rover0,waypoint0,waypoint34) navigate(rover1,waypoint19,waypoint12) navigate(rover2,waypoint4,waypoint5) navigate(rover5,waypoint6,waypoint10) navigate(rover7,waypoint0,waypoint23) sample_rock(rover4,rover4store,waypoint20) sample_rock(rover6,rover6store,waypoint4) take_image(rover3,waypoint23,objective1,camera7,low_res) take_image(rover3,waypoint23,objective4,camera6,colour)
STEP 1.1: navigate(rover3,waypoint23,waypoint24) navigate(rover4,waypoint20,waypoint38) navigate(rover6,waypoint4,waypoint37)
STEP 2.0: communicate_image_data(rover3,general,objective1,low_res,waypoint24,waypoint3) communicate_image_data(rover3,general,objective4,colour,waypoint24,waypoint3) communicate_soil_data(rover7,general,waypoint34,waypoint23,waypoint3) drop(rover4,rover4store) drop(rover6,rover6store) navigate(rover2,waypoint5,waypoint36) navigate(rover4,waypoint38,waypoint4) sample_rock(rover0,rover0store,waypoint34) sample_soil(rover1,rover1store,waypoint12) sample_soil(rover5,rover5store,waypoint10)
STEP 2.1: navigate(rover0,waypoint34,waypoint0) navigate(rover1,waypoint12,waypoint19) navigate(rover3,waypoint24,waypoint32) navigate(rover5,waypoint10,waypoint6) navigate(rover7,waypoint23,waypoint39)
STEP 3.0: communicate_soil_data(rover1,general,waypoint12,waypoint19,waypoint3) drop(rover0,rover0store) drop(rover1,rover1store) drop(rover5,rover5store) navigate(rover0,waypoint0,waypoint23) navigate(rover4,waypoint4,waypoint18) navigate(rover5,waypoint6,waypoint24) sample_rock(rover2,rover2store,waypoint36) sample_rock(rover3,rover3store,waypoint32) sample_rock(rover6,rover6store,waypoint37) sample_soil(rover7,rover7store,waypoint39)
STEP 3.1: navigate(rover1,waypoint19,waypoint30) navigate(rover2,waypoint36,waypoint5) navigate(rover3,waypoint32,waypoint24) navigate(rover6,waypoint37,waypoint4) navigate(rover7,waypoint39,waypoint23)
STEP 4.0: communicate_rock_data(rover0,general,waypoint21,waypoint23,waypoint3) communicate_rock_data(rover0,general,waypoint34,waypoint23,waypoint3) communicate_rock_data(rover3,general,waypoint32,waypoint24,waypoint3) communicate_soil_data(rover5,general,waypoint10,waypoint24,waypoint3) communicate_soil_data(rover7,general,waypoint39,waypoint23,waypoint3) drop(rover7,rover7store) navigate(rover1,waypoint30,waypoint18) navigate(rover2,waypoint5,waypoint4) navigate(rover6,waypoint4,waypoint8) sample_rock(rover4,rover4store,waypoint18)
STEP 4.1: navigate(rover0,waypoint23,waypoint3) navigate(rover4,waypoint18,waypoint4) navigate(rover5,waypoint24,waypoint6) navigate(rover7,waypoint23,waypoint0)
STEP 5.0: communicate_rock_data(rover6,general,waypoint37,waypoint8,waypoint3) communicate_rock_data(rover6,general,waypoint4,waypoint8,waypoint3) navigate(rover1,waypoint18,waypoint11) navigate(rover2,waypoint4,waypoint19) navigate(rover4,waypoint4,waypoint19) navigate(rover5,waypoint6,waypoint29) navigate(rover7,waypoint0,waypoint34) sample_rock(rover0,rover0store,waypoint3)
STEP 5.1: navigate(rover0,waypoint3,waypoint23)
STEP 6.0: communicate_rock_data(rover0,general,waypoint3,waypoint23,waypoint3) communicate_rock_data(rover2,general,waypoint36,waypoint19,waypoint3) communicate_rock_data(rover4,general,waypoint18,waypoint19,waypoint3) communicate_rock_data(rover4,general,waypoint20,waypoint19,waypoint3) navigate(rover5,waypoint29,waypoint2) navigate(rover7,waypoint34,waypoint13) sample_soil(rover1,rover1store,waypoint11)
STEP 6.1: navigate(rover1,waypoint11,waypoint15)
STEP 7.0: communicate_soil_data(rover1,general,waypoint11,waypoint15,waypoint3) drop(rover1,rover1store) navigate(rover5,waypoint2,waypoint14) navigate(rover7,waypoint13,waypoint7)
STEP 7.1: navigate(rover1,waypoint15,waypoint11)
STEP 8.0: navigate(rover1,waypoint11,waypoint18) sample_soil(rover5,rover5store,waypoint14) sample_soil(rover7,rover7store,waypoint7)
STEP 8.1: navigate(rover5,waypoint14,waypoint2) navigate(rover7,waypoint7,waypoint13)
STEP 9: drop(rover5,rover5store) navigate(rover1,waypoint18,waypoint30) navigate(rover5,waypoint2,waypoint23) navigate(rover7,waypoint13,waypoint8)
STEP 10.0: communicate_soil_data(rover5,general,waypoint14,waypoint23,waypoint3) communicate_soil_data(rover7,general,waypoint7,waypoint8,waypoint3) navigate(rover1,waypoint30,waypoint19)
STEP 10.1: navigate(rover5,waypoint23,waypoint2)
STEP 11: navigate(rover1,waypoint19,waypoint1) navigate(rover5,waypoint2,waypoint14)
STEP 12: navigate(rover1,waypoint1,waypoint36) navigate(rover5,waypoint14,waypoint22)
STEP 13.0: sample_soil(rover1,rover1store,waypoint36) sample_soil(rover5,rover5store,waypoint22)
STEP 13.1: navigate(rover1,waypoint36,waypoint1) navigate(rover5,waypoint22,waypoint14)
STEP 14: navigate(rover1,waypoint1,waypoint19) navigate(rover5,waypoint14,waypoint2)
STEP 15: communicate_soil_data(rover1,general,waypoint36,waypoint19,waypoint3) navigate(rover5,waypoint2,waypoint23)
STEP 16: communicate_soil_data(rover5,general,waypoint22,waypoint23,waypoint3)
122 actions in the plan.
total time 2.85 preprocess 2.65 
total size 696.000 MB
max. learned clause length 147
t val conflicts decisions
0 0 0 0
5 0 56 66
10 -1 181 536
15 -1 120 391
20 1 0 739