; total time: 2.66
; plan length: 52
(up f0 f5)
(stop f5)
(up f5 f6)
(up f6 f10)
(up f10 f12)
(stop f12)
(up f12 f14)
(down f14 f6)
(up f6 f9)
(stop f9)
(up f9 f10)
(down f10 f6)
(stop f6)
(up f6 f10)
(up f10 f20)
(stop f20)
(up f20 f21)
(down f21 f10)
(stop f10)
(up f10 f14)
(stop f14)
(up f14 f17)
(stop f17)
(up f17 f21)
(down f21 f1)
(stop f1)
(up f1 f5)
(up f5 f8)
(stop f8)
(up f8 f9)
(up f9 f16)
(stop f16)
(up f16 f21)
(down f21 f5)
(stop f5)
(up f5 f6)
(up f6 f7)
(stop f7)
(up f7 f9)
(down f9 f6)
(stop f6)
(up f6 f9)
(down f9 f2)
(stop f2)
(up f2 f9)
(stop f9)
(up f9 f10)
(stop f10)
(up f10 f18)
(stop f18)
(up f18 f21)
(stop f21)
