; total time: 33.81
; plan length: 161
(up f0 f6)
(stop f6)
(up f6 f11)
(up f11 f45)
(stop f45)
(up f45 f47)
(up f47 f49)
(up f49 f53)
(down f53 f8)
(stop f8)
(up f8 f10)
(up f10 f11)
(up f11 f44)
(stop f44)
(up f44 f47)
(up f47 f49)
(up f49 f53)
(down f53 f5)
(stop f5)
(up f5 f6)
(stop f6)
(up f6 f11)
(up f11 f16)
(stop f16)
(up f16 f17)
(up f17 f18)
(up f18 f20)
(up f20 f53)
(down f53 f6)
(stop f6)
(up f6 f10)
(up f10 f11)
(up f11 f29)
(stop f29)
(up f29 f31)
(up f31 f47)
(stop f47)
(up f47 f49)
(up f49 f53)
(down f53 f33)
(stop f33)
(up f33 f35)
(up f35 f49)
(stop f49)
(up f49 f50)
(stop f50)
(up f50 f52)
(up f52 f53)
(down f53 f36)
(stop f36)
(up f36 f37)
(up f37 f53)
(stop f53)
(down f53 f11)
(up f11 f37)
(stop f37)
(up f37 f38)
(down f38 f4)
(stop f4)
(up f4 f10)
(up f10 f11)
(up f11 f19)
(stop f19)
(up f19 f25)
(stop f25)
(up f25 f28)
(down f28 f11)
(stop f11)
(up f11 f18)
(stop f18)
(up f18 f19)
(up f19 f20)
(down f20 f3)
(stop f3)
(up f3 f10)
(up f10 f11)
(up f11 f52)
(stop f52)
(up f52 f53)
(down f53 f11)
(up f11 f21)
(stop f21)
(up f21 f24)
(up f24 f50)
(stop f50)
(up f50 f52)
(up f52 f53)
(down f53 f11)
(up f11 f41)
(stop f41)
(up f41 f43)
(up f43 f53)
(down f53 f11)
(up f11 f20)
(stop f20)
(up f20 f49)
(stop f49)
(up f49 f52)
(up f52 f53)
(down f53 f11)
(up f11 f28)
(stop f28)
(up f28 f31)
(down f31 f11)
(up f11 f20)
(stop f20)
(up f20 f24)
(up f24 f39)
(stop f39)
(up f39 f40)
(down f40 f11)
(up f11 f24)
(stop f24)
(up f24 f31)
(up f31 f38)
(up f38 f52)
(stop f52)
(up f52 f53)
(down f53 f11)
(up f11 f35)
(stop f35)
(up f35 f38)
(up f38 f53)
(down f53 f11)
(stop f11)
(up f11 f31)
(stop f31)
(up f31 f38)
(stop f38)
(up f38 f40)
(up f40 f53)
(stop f53)
(down f53 f11)
(up f11 f40)
(stop f40)
(up f40 f42)
(up f42 f43)
(down f43 f0)
(stop f0)
(up f0 f10)
(up f10 f11)
(up f11 f17)
(stop f17)
(up f17 f19)
(down f19 f11)
(stop f11)
(up f11 f43)
(stop f43)
(up f43 f53)
(stop f53)
(down f53 f10)
(up f10 f11)
(stop f11)
(up f11 f19)
(stop f19)
(up f19 f42)
(stop f42)
(up f42 f43)
(stop f43)
(down f43 f10)
(stop f10)
