time(s)       , elapsed_time(hr), enc1(rad), enc2(rad), enc3(rad), enc4(rad), pot1(rad), pot2(rad), pot3(rad), pot4(rad), tcase1(C), tcase2(C), tcase3(C), tcase4(C), trotor1(C), trotor2(C), trotor3(C), trotor4(C), tgrapple(C), cur1(mA), cur2(mA), cur3(mA), cur4(mA), volt1(V), volt2(V), volt3(V), volt4(V), stat, tool, x_enc(m), y_enc(m), z_enc(m), th_enc(m), x_pot(m), y_pot(m), z_pot(m), th_pot(m), x_enc_defl(m), y_enc_defl(m), z_enc_defl(m), th_enc_defl(m), x_pot_defl(m), y_pot_defl(m), z_pot_defl(m), th_pot_defl(m), v1(rad/s), v2(rad/s), v3(rad/s), v4(rad/s), tau1(N-m), tau2(N-m), tau3(N-m), tau4(N-m), Fr(N)      , Ft(N)      , Fz(N)      , htr_cur(mA), grapple_phase
610109456.7388 , 0.0000          , -1.1711  , -1.5708  ,  3.2038  ,  2.8444  , -1.1734  , -1.5689  ,  3.2049  ,  3.0288  , -15.9845 , -16.7952 , -14.7824 , -25.3406 , -15.9845  , -16.7952  , -14.7824  , -25.3406  , -25.6194   ,  0.6429 ,  0.6429 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   10,    3,  0.1224 ,  0.2073 , -0.7484 ,  1.6330  ,  0.1233 ,  0.2061 , -0.7489 ,  1.6360  ,  0.1229      ,  0.2075      , -0.7482      ,  1.6327       ,  0.1237      ,  0.2063      , -0.7487      ,  1.6357       ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0045    , 1
610109460.2668 , 0.0010          , -1.1711  , -1.5708  ,  3.2038  ,  2.8444  , -1.1734  , -1.5704  ,  3.2049  ,  3.0288  , -16.2260 , -16.7952 , -15.0219 , -25.3406 , -15.9845  , -16.5554  , -14.7824  , -25.3406  , -26.0663   ,  0.6429 ,  0.6429 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   10,    3,  0.1224 ,  0.2073 , -0.7484 ,  1.6330  ,  0.1229 ,  0.2071 , -0.7486 ,  1.6345  ,  0.1229      ,  0.2075      , -0.7482      ,  1.6327       ,  0.1233      ,  0.2072      , -0.7485      ,  1.6343       ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0045    , 1
610109460.5999 , 0.0011          , -1.1731  , -1.5706  ,  3.2038  ,  2.8444  , -1.1734  , -1.5704  ,  3.2049  ,  3.0288  , -15.9845 , -16.7952 , -15.0219 , -25.3406 , -15.9845  , -16.5554  , -14.7824  , -25.3406  , -26.0663   ,  0.6429 ,  0.6429 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   10,    3,  0.1229 ,  0.2069 , -0.7484 ,  1.6332  ,  0.1229 ,  0.2071 , -0.7486 ,  1.6345  ,  0.1234      ,  0.2071      , -0.7483      ,  1.6329       ,  0.1233      ,  0.2072      , -0.7485      ,  1.6343       , -0.0060  ,  0.0006  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
610109460.9331 , 0.0012          , -1.1729  , -1.5702  ,  3.2038  ,  2.8444  , -1.1734  , -1.5704  ,  3.2049  ,  3.0288  , -16.2260 , -16.7952 , -14.7824 , -25.5777 , -15.9845  , -16.5554  , -14.7824  , -25.3406  , -26.0663   ,  0.6429 ,  0.6429 ,  0.3214 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   10,    3,  0.1229 ,  0.2067 , -0.7485 ,  1.6336  ,  0.1229 ,  0.2071 , -0.7486 ,  1.6345  ,  0.1234      ,  0.2069      , -0.7483      ,  1.6333       ,  0.1233      ,  0.2072      , -0.7485      ,  1.6343       ,  0.0008  ,  0.0012  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
610109461.2591 , 0.0013          , -1.1726  , -1.5700  ,  3.2051  ,  2.8444  , -1.1734  , -1.5704  ,  3.2049  ,  3.0288  , -15.9845 , -16.7952 , -14.7824 , -25.5777 , -15.9845  , -16.5554  , -14.7824  , -25.3406  , -26.0663   ,  0.6429 ,  0.6429 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   10,    3,  0.1228 ,  0.2069 , -0.7487 ,  1.6351  ,  0.1229 ,  0.2071 , -0.7486 ,  1.6345  ,  0.1233      ,  0.2071      , -0.7486      ,  1.6348       ,  0.1233      ,  0.2072      , -0.7485      ,  1.6343       ,  0.0008  ,  0.0006  ,  0.0039  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0045    , 1
610109461.5897 , 0.0013          , -1.1724  , -1.5698  ,  3.2051  ,  3.0289  , -1.1734  , -1.5704  ,  3.2064  ,  3.0288  , -15.9845 , -16.7952 , -15.0219 , -25.3406 , -15.9845  , -16.5554  , -14.7824  , -25.3406  , -26.0663   ,  0.6429 ,  0.6429 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   10,    3,  0.1228 ,  0.2069 , -0.7488 ,  1.6353  ,  0.1227 ,  0.2074 , -0.7489 ,  1.6360  ,  0.1233      ,  0.2070      , -0.7486      ,  1.6350       ,  0.1232      ,  0.2076      , -0.7487      ,  1.6357       ,  0.0008  ,  0.0006  ,  0.0000  ,  0.5582  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
610109461.8678 , 0.0014          , -1.1724  , -1.5698  ,  3.2051  ,  3.0289  , -1.1720  , -1.5704  ,  3.2064  ,  3.0288  , -16.2260 , -16.7952 , -14.7824 , -25.3406 , -15.9845  , -16.5554  , -14.7824  , -25.3406  , -26.0663   ,  0.6429 ,  0.3214 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   10,    3,  0.1228 ,  0.2069 , -0.7488 ,  1.6353  ,  0.1224 ,  0.2076 , -0.7489 ,  1.6360  ,  0.1233      ,  0.2070      , -0.7486      ,  1.6350       ,  0.1229      ,  0.2078      , -0.7487      ,  1.6357       ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
610109462.1306 , 0.0015          , -1.1724  , -1.5698  ,  3.2051  ,  3.0289  , -1.1734  , -1.5704  ,  3.2064  ,  3.0288  , -15.9845 , -16.7952 , -15.0219 , -25.5777 , -15.9845  , -16.5554  , -14.7824  , -25.3406  , -26.0663   ,  0.6429 ,  0.6429 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   10,    3,  0.1228 ,  0.2069 , -0.7488 ,  1.6353  ,  0.1227 ,  0.2074 , -0.7489 ,  1.6360  ,  0.1233      ,  0.2070      , -0.7486      ,  1.6350       ,  0.1232      ,  0.2076      , -0.7487      ,  1.6357       ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
610109464.6664 , 0.0022          , -1.1724  , -1.5698  ,  3.2051  ,  3.0289  , -1.1734  , -1.5704  ,  3.2049  ,  3.0288  , -16.2260 , -16.7952 , -14.7824 , -25.3406 , -15.9845  , -16.5554  , -14.7824  , -25.3406  , -26.0663   ,  0.6429 ,  0.3214 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   10,    3,  0.1228 ,  0.2069 , -0.7488 ,  1.6353  ,  0.1229 ,  0.2071 , -0.7486 ,  1.6345  ,  0.1233      ,  0.2070      , -0.7486      ,  1.6350       ,  0.1233      ,  0.2072      , -0.7485      ,  1.6343       ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
610109467.7996 , 0.0031          , -1.1724  , -1.5698  ,  3.2051  ,  3.0289  , -1.1734  , -1.5704  ,  3.2049  ,  3.0288  , -16.2260 , -16.7952 , -15.0219 , -25.3406 , -15.9845  , -16.5554  , -14.7824  , -25.3406  , -25.6194   ,  0.6429 ,  0.3214 ,  0.3214 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   10,    3,  0.1228 ,  0.2069 , -0.7488 ,  1.6353  ,  0.1229 ,  0.2071 , -0.7486 ,  1.6345  ,  0.1233      ,  0.2070      , -0.7486      ,  1.6350       ,  0.1233      ,  0.2072      , -0.7485      ,  1.6343       ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
610109468.2034 , 0.0032          , -1.1724  , -1.5698  ,  3.2051  ,  3.0289  , -1.1734  , -1.5704  ,  3.2049  ,  3.0288  , -16.2260 , -16.7952 , -14.7824 , -25.3406 , -15.9845  , -16.5554  , -14.7824  , -25.3406  , -25.6194   ,  0.6429 ,  0.6429 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   10,    3,  0.1228 ,  0.2069 , -0.7488 ,  1.6353  ,  0.1229 ,  0.2071 , -0.7486 ,  1.6345  ,  0.1233      ,  0.2070      , -0.7486      ,  1.6350       ,  0.1233      ,  0.2072      , -0.7485      ,  1.6343       ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0045    , 1
