; total time: 2.19
; plan length: 20
(up f0 f12)
(stop f12)
(down f12 f8)
(stop f8)
(up f8 f9)
(stop f9)
(down f9 f0)
(stop f0)
(up f0 f15)
(stop f15)
(down f15 f2)
(stop f2)
(down f2 f1)
(stop f1)
(up f1 f3)
(stop f3)
(up f3 f6)
(stop f6)
(up f6 f14)
(stop f14)
