; total time: 17.85
; plan length: 103
(up f0 f28)
(stop f28)
(down f28 f26)
(stop f26)
(down f26 f0)
(up f0 f33)
(stop f33)
(down f33 f1)
(up f1 f25)
(stop f25)
(down f25 f1)
(up f1 f21)
(stop f21)
(down f21 f1)
(stop f1)
(up f1 f4)
(up f4 f43)
(stop f43)
(down f43 f3)
(stop f3)
(down f3 f0)
(up f0 f4)
(up f4 f37)
(stop f37)
(down f37 f4)
(up f4 f39)
(stop f39)
(down f39 f0)
(up f0 f4)
(up f4 f25)
(stop f25)
(down f25 f0)
(up f0 f8)
(stop f8)
(down f8 f0)
(up f0 f4)
(up f4 f21)
(stop f21)
(down f21 f0)
(up f0 f4)
(up f4 f9)
(stop f9)
(down f9 f0)
(up f0 f4)
(up f4 f14)
(stop f14)
(down f14 f4)
(up f4 f43)
(stop f43)
(down f43 f0)
(up f0 f4)
(up f4 f20)
(stop f20)
(down f20 f0)
(up f0 f1)
(stop f1)
(down f1 f0)
(up f0 f37)
(stop f37)
(down f37 f0)
(up f0 f34)
(stop f34)
(down f34 f31)
(stop f31)
(down f31 f24)
(stop f24)
(down f24 f19)
(stop f19)
(down f19 f11)
(stop f11)
(down f11 f0)
(stop f0)
(up f0 f4)
(stop f4)
(up f4 f30)
(stop f30)
(down f30 f4)
(up f4 f16)
(stop f16)
(down f16 f4)
(stop f4)
(up f4 f5)
(up f5 f12)
(stop f12)
(down f12 f5)
(up f5 f41)
(stop f41)
(down f41 f5)
(up f5 f15)
(stop f15)
(down f15 f14)
(stop f14)
(down f14 f5)
(up f5 f45)
(stop f45)
(down f45 f5)
(up f5 f33)
(stop f33)
(down f33 f5)
(up f5 f6)
(stop f6)
(down f6 f5)
(stop f5)
