[ROUTINE:MAIN]
do DESCENT
do ASCENT

[ROUTINE:DESCENT]
sampling S_DESCENT
wait 30
sampling S_STOP

[SAMPLING:S_DESCENT]
rbr enable cf_descent

[ROUTINE:ASCENT]
sampling S_ASCENT
wait 30
sampling S_STOP

[SAMPLING:S_ASCENT]
rbr enable cf_ascent

[SAMPLING:S_STOP]
rbr disable