; total time: 3.65
; plan length: 17
(wait )
(close sd9)
(open sd13)
(close sd14)
(open sd10)
(close cb3)
(open sd16)
(close cb5)
(open sd18)
(close sd19)
(open sd3)
(close sd4)
(open sd7)
(close sd5)
(open sd17)
(open sd9)
(close sd16)
