; total time: 2.64
; plan length: 46
(up f0 f19)
(up f19 f20)
(stop f20)
(down f20 f8)
(stop f8)
(up f8 f19)
(up f19 f21)
(stop f21)
(down f21 f19)
(stop f19)
(up f19 f20)
(stop f20)
(down f20 f6)
(stop f6)
(down f6 f5)
(up f5 f10)
(stop f10)
(up f10 f15)
(stop f15)
(down f15 f3)
(stop f3)
(up f3 f5)
(up f5 f15)
(stop f15)
(down f15 f5)
(stop f5)
(up f5 f19)
(down f19 f11)
(stop f11)
(up f11 f20)
(stop f20)
(down f20 f19)
(down f19 f0)
(stop f0)
(up f0 f19)
(stop f19)
(down f19 f11)
(down f11 f2)
(stop f2)
(up f2 f11)
(stop f11)
(down f11 f7)
(down f7 f4)
(stop f4)
(up f4 f7)
(stop f7)
