; total time: 2.72
; plan length: 48
(stop f0)
(up f0 f2)
(up f2 f19)
(stop f19)
(up f19 f20)
(up f20 f21)
(stop f21)
(down f21 f20)
(stop f20)
(down f20 f8)
(stop f8)
(up f8 f10)
(up f10 f15)
(up f15 f21)
(stop f21)
(down f21 f2)
(up f2 f3)
(up f3 f6)
(stop f6)
(up f6 f7)
(up f7 f15)
(up f15 f19)
(stop f19)
(up f19 f20)
(down f20 f3)
(stop f3)
(up f3 f5)
(up f5 f15)
(stop f15)
(down f15 f5)
(stop f5)
(up f5 f7)
(up f7 f11)
(stop f11)
(up f11 f20)
(stop f20)
(down f20 f2)
(stop f2)
(up f2 f4)
(stop f4)
(up f4 f7)
(stop f7)
(up f7 f10)
(stop f10)
(up f10 f11)
(stop f11)
(up f11 f15)
(stop f15)
