; total time: 3.33
; plan length: 53
(up f0 f9)
(up f9 f16)
(stop f16)
(down f16 f9)
(up f9 f20)
(stop f20)
(down f20 f5)
(stop f5)
(up f5 f22)
(stop f22)
(down f22 f9)
(stop f9)
(up f9 f20)
(down f20 f8)
(stop f8)
(up f8 f20)
(down f20 f1)
(stop f1)
(up f1 f15)
(stop f15)
(up f15 f20)
(down f20 f1)
(stop f1)
(up f1 f20)
(up f20 f21)
(stop f21)
(up f21 f23)
(stop f23)
(down f23 f20)
(down f20 f10)
(stop f10)
(up f10 f20)
(up f20 f21)
(stop f21)
(down f21 f20)
(down f20 f19)
(stop f19)
(up f19 f20)
(stop f20)
(down f20 f11)
(stop f11)
(down f11 f5)
(up f5 f18)
(stop f18)
(down f18 f5)
(stop f5)
(up f5 f6)
(stop f6)
(up f6 f20)
(down f20 f14)
(stop f14)
(up f14 f20)
(stop f20)
