; total time: 2.72
; plan length: 52
(up f0 f3)
(up f3 f15)
(up f15 f20)
(stop f20)
(down f20 f19)
(stop f19)
(up f19 f20)
(up f20 f21)
(stop f21)
(down f21 f15)
(up f15 f20)
(stop f20)
(down f20 f3)
(stop f3)
(up f3 f5)
(up f5 f15)
(stop f15)
(down f15 f5)
(stop f5)
(up f5 f6)
(up f6 f11)
(stop f11)
(down f11 f8)
(stop f8)
(up f8 f10)
(up f10 f21)
(stop f21)
(down f21 f6)
(stop f6)
(up f6 f7)
(up f7 f20)
(stop f20)
(down f20 f0)
(stop f0)
(up f0 f7)
(up f7 f19)
(stop f19)
(down f19 f7)
(up f7 f10)
(stop f10)
(up f10 f11)
(up f11 f15)
(stop f15)
(down f15 f4)
(stop f4)
(up f4 f7)
(stop f7)
(up f7 f11)
(down f11 f2)
(stop f2)
(up f2 f11)
(stop f11)
