; total time: 182.49
; plan length: 57
(wait )
(close sd39)
(open sd67)
(close sd69)
(open sd66)
(close sd67)
(open sd64)
(close cb14)
(open sd91)
(close sd12)
(open sd17)
(close cb5)
(open sd98)
(close sd83)
(open sd99)
(close sd101)
(open sd93)
(close cb24)
(open sd90)
(close cb22)
(open sd110)
(close sd95)
(open sd113)
(close cb35)
(open sd35)
(close cb9)
(open sd37)
(close sd35)
(open sd103)
(close cb27)
(open sd92)
(close cb23)
(open sd97)
(close sd105)
(open sd24)
(close sd25)
(open sd23)
(close cb6)
(open sd4)
(close cb2)
(open sd6)
(close sd1)
(open sd56)
(close cb13)
(open sd45)
(close sd30)
(open sd44)
(close cb11)
(open sd75)
(close sd76)
(open sd78)
(close cb18)
(open sd79)
(close sd78)
(open sd18)
(open sd19)
(close sd102)
