; total time: 12.61
; plan length: 28
(wait-2-127)
(open-sd17-0)
(open-sd25-0)
(close-sd31-0)
(close-sd18-0)
(close-sd19-0)
(close-sd12-0)
(close-sd8-0)
(open-sd13-0)
(close-cb6-0)
(close-sd10-0)
(close-cb4-0)
(open-sd20-0)
(close-cb5-0)
(close-sd16-0)
(wait-4-0)
(open-sd10-0)
(open-cb6-0)
(close-cb3-0)
(wait-3-0)
(close-cb7-0)
(wait-7-0)
(close-cb2-0)
(wait-2-0)
(open-sd16-0)
(close-cb6-0)
(close-sd14-0)
(close-cb4-0)
