; total time: 172.17
; plan length: 32
(up f0 f2)
(stop f2)
(up f2 f22)
(stop f22)
(up f22 f23)
(stop f23)
(down f23 f15)
(stop f15)
(down f15 f8)
(stop f8)
(down f8 f0)
(stop f0)
(up f0 f14)
(stop f14)
(down f14 f5)
(stop f5)
(up f5 f13)
(stop f13)
(down f13 f10)
(stop f10)
(up f10 f19)
(stop f19)
(down f19 f11)
(stop f11)
(up f11 f20)
(stop f20)
(down f20 f3)
(stop f3)
(up f3 f16)
(stop f16)
(down f16 f9)
(stop f9)
