Checking the given plan ... IDs of subtasks used in the plan exist: true Task with id=0 has the parameter phenomenon4 assigned to variable ?do_d of sort image_direction - but the parameter is not a member of this sort. Found constant Phenomenon4 for which the parameter phenomenon4 is a lower case version. I'm using this one. New constant is fine. Task with id=4 has the parameter groundstation2 assigned to variable ?t_d_new of sort direction - but the parameter is not a member of this sort. Found constant GroundStation2 for which the parameter groundstation2 is a lower case version. I'm using this one. New constant is fine. Task with id=4 has the parameter phenomenon6 assigned to variable ?t_d_prev of sort direction - but the parameter is not a member of this sort. Found constant Phenomenon6 for which the parameter phenomenon6 is a lower case version. I'm using this one. New constant is fine. Task with id=5 has the parameter groundstation2 assigned to variable ?c_d of sort calib_direction - but the parameter is not a member of this sort. Found constant GroundStation2 for which the parameter groundstation2 is a lower case version. I'm using this one. New constant is fine. Task with id=6 has the parameter phenomenon4 assigned to variable ?t_d_new of sort direction - but the parameter is not a member of this sort. Found constant Phenomenon4 for which the parameter phenomenon4 is a lower case version. I'm using this one. New constant is fine. Task with id=6 has the parameter groundstation2 assigned to variable ?t_d_prev of sort direction - but the parameter is not a member of this sort. Found constant GroundStation2 for which the parameter groundstation2 is a lower case version. I'm using this one. New constant is fine. Task with id=7 has the parameter phenomenon4 assigned to variable ?ti_d of sort image_direction - but the parameter is not a member of this sort. Found constant Phenomenon4 for which the parameter phenomenon4 is a lower case version. I'm using this one. New constant is fine. Tasks declared in plan actually exist and can be instantiated as given: true Methods don't contain duplicate subtasks: true Methods don't contain orphaned tasks: true Methods can be instantiated: true Order induced by methods is present in plan: true Plan is executable: true Plan verification result: true