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
612945149.1189 , 0.0000          , -1.0057  , -1.3893  ,  2.6169  ,  0.3476  , -1.0066  , -1.3878  ,  2.6198  ,  0.1302  , -7.7749  , -25.1868 , -24.1232 , -27.9484 , -7.7749   , -25.1868  , -24.1232  , -27.9484  , -34.1105   ,  0.6429 ,  0.6429 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   d0,    5,  0.4274 , -0.3323 ,  0.0858 ,  1.5014  ,  0.4260 , -0.3309 ,  0.0874 ,  1.5014  ,  0.4274      , -0.3320      ,  0.0865      ,  1.5014       ,  0.4260      , -0.3306      ,  0.0880      ,  1.5014       ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0045    , 2
612945152.6257 , 0.0010          , -1.0057  , -1.3893  ,  2.6169  ,  0.3476  , -1.0066  , -1.3908  ,  2.6184  ,  0.1287  , -8.0164  , -25.1868 , -24.3627 , -27.9484 , -7.7749   , -25.1868  , -24.1232  , -27.7113  , -34.1105   ,  0.6429 ,  0.6429 ,  0.3214 ,  0.3214 ,  0      ,  0      ,  0      ,  0      ,   d0,    5,  0.4274 , -0.3323 ,  0.0858 ,  1.5014  ,  0.4264 , -0.3315 ,  0.0856 ,  1.5014  ,  0.4274      , -0.3320      ,  0.0865      ,  1.5014       ,  0.4264      , -0.3312      ,  0.0862      ,  1.5014       ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 2
612945152.9617 , 0.0011          , -1.0063  , -1.3893  ,  2.6169  ,  0.3476  , -1.0052  , -1.3893  ,  2.6198  ,  0.1287  , -8.0164  , -25.1868 , -24.3627 , -27.9484 , -7.7749   , -25.1868  , -24.1232  , -27.7113  , -34.1105   ,  0.3214 ,  0.6429 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   d0,    5,  0.4272 , -0.3325 ,  0.0858 ,  1.5014  ,  0.4263 , -0.3301 ,  0.0867 ,  1.5014  ,  0.4272      , -0.3322      ,  0.0865      ,  1.5014       ,  0.4263      , -0.3298      ,  0.0873      ,  1.5014       , -0.0015  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 2
612945153.2959 , 0.0012          , -1.0060  , -1.3893  ,  2.6169  ,  0.3476  , -1.0052  , -1.3908  ,  2.6184  ,  0.1287  , -8.0164  , -25.1868 , -24.3627 , -27.9484 , -7.7749   , -25.1868  , -24.1232  , -27.7113  , -34.1105   ,  0.6429 ,  0.6429 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   d0,    5,  0.4273 , -0.3324 ,  0.0858 ,  1.5014  ,  0.4268 , -0.3309 ,  0.0856 ,  1.5014  ,  0.4273      , -0.3321      ,  0.0865      ,  1.5014       ,  0.4268      , -0.3306      ,  0.0862      ,  1.5014       ,  0.0008  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 2
612945153.6177 , 0.0012          , -1.0057  , -1.3893  ,  2.6185  ,  0.3476  , -1.0066  , -1.3893  ,  2.6184  ,  0.1287  , -7.7749  , -25.1868 , -24.3627 , -27.9484 , -7.7749   , -25.1868  , -24.1232  , -27.7113  , -34.1105   ,  0.6429 ,  0.3214 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   d0,    5,  0.4267 , -0.3313 ,  0.0863 ,  1.5014  ,  0.4265 , -0.3317 ,  0.0863 ,  1.5014  ,  0.4267      , -0.3309      ,  0.0869      ,  1.5014       ,  0.4265      , -0.3314      ,  0.0869      ,  1.5014       ,  0.0008  ,  0.0000  ,  0.0049  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 2
612945153.9624 , 0.0013          , -1.0055  , -1.3893  ,  2.6185  ,  0.1269  , -1.0066  , -1.3908  ,  2.6184  ,  0.1287  , -8.0164  , -25.1868 , -24.3627 , -27.9484 , -7.7749   , -25.1868  , -24.1232  , -27.7113  , -34.1105   ,  0.6429 ,  0.6429 ,  0.6429 ,  0.3214 ,  0      ,  0      ,  0      ,  0      ,   d0,    5,  0.4268 , -0.3312 ,  0.0863 ,  1.5014  ,  0.4264 , -0.3315 ,  0.0856 ,  1.5014  ,  0.4268      , -0.3308      ,  0.0869      ,  1.5014       ,  0.4264      , -0.3312      ,  0.0862      ,  1.5014       ,  0.0007  ,  0.0000  ,  0.0000  , -0.6402  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 2
612945154.2276 , 0.0014          , -1.0055  , -1.3893  ,  2.6185  ,  0.1269  , -1.0066  , -1.3908  ,  2.6184  ,  0.1287  , -7.7749  , -25.1868 , -24.3627 , -27.9484 , -7.7749   , -25.1868  , -24.1232  , -27.7113  , -34.1105   ,  0.3214 ,  0.6429 ,  0.3214 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   d0,    5,  0.4268 , -0.3312 ,  0.0863 ,  1.5014  ,  0.4264 , -0.3315 ,  0.0856 ,  1.5014  ,  0.4268      , -0.3308      ,  0.0869      ,  1.5014       ,  0.4264      , -0.3312      ,  0.0862      ,  1.5014       ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 2
612945154.4912 , 0.0015          , -1.0055  , -1.3893  ,  2.6185  ,  0.1269  , -1.0066  , -1.3908  ,  2.6184  ,  0.1287  , -8.0164  , -25.1868 , -24.3627 , -27.9484 , -7.7749   , -25.1868  , -24.1232  , -27.7113  , -34.1105   ,  0.6429 ,  0.6429 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   d0,    5,  0.4268 , -0.3312 ,  0.0863 ,  1.5014  ,  0.4264 , -0.3315 ,  0.0856 ,  1.5014  ,  0.4268      , -0.3308      ,  0.0869      ,  1.5014       ,  0.4264      , -0.3312      ,  0.0862      ,  1.5014       ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 2
612945157.0194 , 0.0022          , -1.0055  , -1.3893  ,  2.6185  ,  0.1269  , -1.0066  , -1.3908  ,  2.6184  ,  0.1287  , -7.7749  , -25.1868 , -24.3627 , -27.9484 , -7.7749   , -25.1868  , -24.1232  , -27.7113  , -34.1105   ,  0.6429 ,  0.3214 ,  0.3214 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   d0,    5,  0.4268 , -0.3312 ,  0.0863 ,  1.5014  ,  0.4264 , -0.3315 ,  0.0856 ,  1.5014  ,  0.4268      , -0.3308      ,  0.0869      ,  1.5014       ,  0.4264      , -0.3312      ,  0.0862      ,  1.5014       ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 2
612945160.2188 , 0.0031          , -1.0055  , -1.3893  ,  2.6185  ,  0.1269  , -1.0066  , -1.3908  ,  2.6184  ,  0.1287  , -8.0164  , -25.1868 , -24.3627 , -27.9484 , -7.7749   , -25.1868  , -24.1232  , -27.7113  , -33.6637   ,  0.3214 ,  0.6429 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   d0,    5,  0.4268 , -0.3312 ,  0.0863 ,  1.5014  ,  0.4264 , -0.3315 ,  0.0856 ,  1.5014  ,  0.4268      , -0.3308      ,  0.0869      ,  1.5014       ,  0.4264      , -0.3312      ,  0.0862      ,  1.5014       ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 2
612945160.6208 , 0.0032          , -1.0055  , -1.3893  ,  2.6185  ,  0.1269  , -1.0052  , -1.3893  ,  2.6184  ,  0.1287  , -8.0164  , -25.1868 , -24.3627 , -27.9484 , -7.7749   , -25.1868  , -24.1232  , -27.7113  , -33.6637   ,  0.6429 ,  0.6429 ,  0.3214 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   d0,    5,  0.4268 , -0.3312 ,  0.0863 ,  1.5014  ,  0.4270 , -0.3311 ,  0.0863 ,  1.5014  ,  0.4268      , -0.3308      ,  0.0869      ,  1.5014       ,  0.4269      , -0.3308      ,  0.0869      ,  1.5014       ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 2
