; total time: 30.71
; plan length: 116
(up f0 f28)
(stop f28)
(down f28 f0)
(up f0 f27)
(stop f27)
(up f27 f49)
(stop f49)
(down f49 f2)
(up f2 f4)
(up f4 f27)
(stop f27)
(down f27 f0)
(up f0 f3)
(stop f3)
(down f3 f0)
(up f0 f48)
(stop f48)
(down f48 f21)
(stop f21)
(down f21 f0)
(up f0 f48)
(stop f48)
(down f48 f0)
(up f0 f23)
(stop f23)
(down f23 f0)
(up f0 f26)
(stop f26)
(down f26 f0)
(up f0 f42)
(stop f42)
(down f42 f0)
(up f0 f34)
(stop f34)
(down f34 f0)
(up f0 f15)
(stop f15)
(down f15 f0)
(up f0 f43)
(stop f43)
(down f43 f0)
(up f0 f13)
(stop f13)
(up f13 f45)
(stop f45)
(down f45 f0)
(up f0 f46)
(stop f46)
(down f46 f0)
(up f0 f47)
(stop f47)
(down f47 f14)
(stop f14)
(down f14 f4)
(up f4 f25)
(stop f25)
(down f25 f0)
(stop f0)
(up f0 f2)
(up f2 f14)
(stop f14)
(down f14 f2)
(up f2 f19)
(stop f19)
(down f19 f2)
(stop f2)
(up f2 f4)
(up f4 f20)
(stop f20)
(down f20 f8)
(stop f8)
(down f8 f4)
(up f4 f6)
(stop f6)
(down f6 f4)
(up f4 f47)
(stop f47)
(down f47 f4)
(up f4 f24)
(stop f24)
(down f24 f4)
(up f4 f12)
(stop f12)
(down f12 f4)
(up f4 f41)
(stop f41)
(down f41 f36)
(stop f36)
(down f36 f4)
(up f4 f31)
(stop f31)
(down f31 f4)
(stop f4)
(up f4 f13)
(up f13 f29)
(stop f29)
(down f29 f17)
(stop f17)
(down f17 f13)
(up f13 f18)
(stop f18)
(up f18 f39)
(stop f39)
(down f39 f13)
(up f13 f40)
(stop f40)
(down f40 f13)
(up f13 f22)
(stop f22)
(down f22 f13)
(up f13 f18)
(stop f18)
(down f18 f13)
(stop f13)
(up f13 f30)
(stop f30)
