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
618084900.1030 , 0.0000          , -0.6760  ,  0.0964  ,  0.9513  ,  0.6641  , -0.6759  ,  0.0973  ,  0.9505  ,  0.6615  ,  13.7148 ,  20.8471 ,  32.6402 , -32.9269 ,  13.7148  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.3214 ,  0.3214 ,  0.3214 ,  0.3214 ,  0      ,  0      ,  0      ,  0      ,   50,    2,  1.2758 , -0.8458 ,  0.8692 ,  1.5722  ,  1.2760 , -0.8458 ,  0.8698 ,  1.5696  ,  1.2729      , -0.8448      ,  0.8731      ,  1.5755       ,  1.2730      , -0.8448      ,  0.8738      ,  1.5730       ,  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
618084900.1778 , 0.0000          , -0.6760  ,  0.0964  ,  0.9513  ,  0.6641  , -0.6745  ,  0.0973  ,  0.9505  ,  0.6615  ,  13.7148 ,  20.8471 ,  32.6402 , -32.9269 ,  13.7148  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.3214 ,  0.0000 ,  0.0000 ,  0.0000 ,  0      ,  1      ,  1      ,  1      , e05e,    2,  1.2758 , -0.8458 ,  0.8692 ,  1.5722  ,  1.2772 , -0.8440 ,  0.8698 ,  1.5696  ,  1.2729      , -0.8448      ,  0.8731      ,  1.5755       ,  1.2742      , -0.8429      ,  0.8738      ,  1.5730       ,  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
618084900.2773 , 0.0000          , -0.6760  ,  0.0964  ,  0.9513  ,  0.6641  , -0.6759  ,  0.0973  ,  0.9505  ,  0.6615  ,  13.7148 ,  20.8471 ,  32.6402 , -32.9269 ,  13.7148  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.6429 ,  19.2858,  17.0358,  22.5001,  0      ,  1      ,  1      ,  1      , e05e,    2,  1.2758 , -0.8458 ,  0.8692 ,  1.5722  ,  1.2760 , -0.8458 ,  0.8698 ,  1.5696  ,  1.2729      , -0.8448      ,  0.8731      ,  1.5755       ,  1.2730      , -0.8448      ,  0.8738      ,  1.5730       ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  1.5696  , -0.9962  ,  0.7864  ,  8.0874 , -99999.0000,  14.5748,  0.0030    , 1
618084900.4072 , 0.0001          , -0.6760  ,  0.0964  ,  0.9513  ,  0.6641  , -0.6759  ,  0.0973  ,  0.9519  ,  0.6615  ,  13.7148 ,  20.8471 ,  32.6402 , -32.9269 ,  13.7148  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.3214 ,  0.0000 ,  0.0000 ,  22.1787,  0      ,  2      ,  2      ,  1      , e05e,    2,  1.2758 , -0.8458 ,  0.8692 ,  1.5722  ,  1.2750 , -0.8451 ,  0.8706 ,  1.5711  ,  1.2729      , -0.8448      ,  0.8731      ,  1.5755       ,  1.2721      , -0.8440      ,  0.8745      ,  1.5744       ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.7489  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
618084900.5269 , 0.0001          , -0.6760  ,  0.0964  ,  0.9513  ,  0.6641  , -0.6759  ,  0.0973  ,  0.9505  ,  0.6630  ,  13.7148 ,  20.8471 ,  32.6402 , -32.9269 ,  13.7148  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.3214 ,  0.0000 ,  0.0000 ,  22.5001,  0      ,  4      ,  4      ,  1      , e05e,    2,  1.2758 , -0.8458 ,  0.8692 ,  1.5722  ,  1.2758 , -0.8457 ,  0.8700 ,  1.5711  ,  1.2729      , -0.8448      ,  0.8731      ,  1.5755       ,  1.2729      , -0.8447      ,  0.8739      ,  1.5745       ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.7864  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
618084900.6294 , 0.0001          , -0.6760  ,  0.0968  ,  0.9510  ,  0.6641  , -0.6759  ,  0.0973  ,  0.9505  ,  0.6615  ,  13.7148 ,  20.8471 ,  32.6402 , -32.9269 ,  13.7148  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.3214 ,  0.0000 ,  0.0000 ,  22.5001,  0      ,  6      ,  6      ,  1      , e05e,    2,  1.2757 , -0.8458 ,  0.8696 ,  1.5723  ,  1.2760 , -0.8458 ,  0.8698 ,  1.5696  ,  1.2728      , -0.8448      ,  0.8736      ,  1.5756       ,  1.2730      , -0.8448      ,  0.8738      ,  1.5730       ,  0.0000  ,  0.0038  , -0.0031  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.7864  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
618084900.7391 , 0.0002          , -0.6760  ,  0.0974  ,  0.9500  ,  0.6641  , -0.6759  ,  0.0973  ,  0.9490  ,  0.6615  ,  13.7148 ,  20.8471 ,  32.6402 , -32.9269 ,  13.7148  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.3214 ,  0.0000 ,  0.0000 ,  22.5001,  0      ,  8      ,  8      ,  1      , e05e,    2,  1.2759 , -0.8459 ,  0.8700 ,  1.5719  ,  1.2769 , -0.8466 ,  0.8690 ,  1.5682  ,  1.2730      , -0.8449      ,  0.8740      ,  1.5753       ,  1.2739      , -0.8456      ,  0.8730      ,  1.5715       ,  0.0000  ,  0.0054  , -0.0086  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.7864  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
618084900.8360 , 0.0002          , -0.6760  ,  0.0982  ,  0.9488  ,  0.6641  , -0.6759  ,  0.0973  ,  0.9476  ,  0.6615  ,  13.7148 ,  20.8471 ,  32.6402 , -32.9269 ,  13.7148  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.3214 ,  0.0000 ,  0.0000 ,  22.5001,  0      ,  9      ,  10     ,  1      , e05e,    2,  1.2762 , -0.8461 ,  0.8705 ,  1.5714  ,  1.2778 , -0.8473 ,  0.8683 ,  1.5667  ,  1.2732      , -0.8451      ,  0.8745      ,  1.5748       ,  1.2749      , -0.8463      ,  0.8722      ,  1.5701       ,  0.0000  ,  0.0081  , -0.0130  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.7864  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
618084900.9464 , 0.0002          , -0.6760  ,  0.0992  ,  0.9469  ,  0.6641  , -0.6759  ,  0.0988  ,  0.9461  ,  0.6615  ,  13.7148 ,  20.8471 ,  32.6402 , -32.9269 ,  13.7148  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.6429 ,  0.0000 ,  0.0000 ,  0.0000 ,  0      ,  10     ,  11     ,  2      , e05e,    2,  1.2767 , -0.8465 ,  0.8710 ,  1.5705  ,  1.2777 , -0.8472 ,  0.8697 ,  1.5667  ,  1.2737      , -0.8455      ,  0.8749      ,  1.5739       ,  1.2748      , -0.8462      ,  0.8737      ,  1.5701       ,  0.0000  ,  0.0089  , -0.0171  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
618084901.0561 , 0.0003          , -0.6760  ,  0.1002  ,  0.9453  ,  0.6641  , -0.6745  ,  0.0988  ,  0.9446  ,  0.6615  ,  13.7148 ,  20.8471 ,  32.6402 , -32.9269 ,  13.7148  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.3214 ,  0.0000 ,  27.3216,  47.2502,  0      ,  11     ,  11     ,  2      , e05e,    2,  1.2770 , -0.8468 ,  0.8716 ,  1.5699  ,  1.2799 , -0.8461 ,  0.8689 ,  1.5653  ,  1.2740      , -0.8458      ,  0.8756      ,  1.5733       ,  1.2769      , -0.8451      ,  0.8729      ,  1.5687       ,  0.0000  ,  0.0090  , -0.0143  ,  0.0000  ,  0.0000  ,  0.0000  , -4.1897  ,  3.6542  ,  62.3045, -99999.0000,  93.6933,  0.0030    , 1
618084901.1568 , 0.0003          , -0.6760  ,  0.1013  ,  0.9434  ,  0.6641  , -0.6759  ,  0.1003  ,  0.9432  ,  0.6615  ,  13.7148 ,  20.8471 ,  32.6402 , -32.9269 ,  13.7148  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.3214 ,  0.0000 ,  0.0000 ,  46.9288,  0      ,  12     ,  12     ,  2      , e05e,    2,  1.2774 , -0.8471 ,  0.8724 ,  1.5692  ,  1.2785 , -0.8479 ,  0.8704 ,  1.5653  ,  1.2744      , -0.8461      ,  0.8764      ,  1.5726       ,  1.2756      , -0.8469      ,  0.8744      ,  1.5687       ,  0.0000  ,  0.0117  , -0.0187  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  3.6167  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
618084901.2680 , 0.0003          , -0.6760  ,  0.1025  ,  0.9415  ,  0.6641  , -0.6759  ,  0.1017  ,  0.9403  ,  0.6630  ,  13.7148 ,  20.8471 ,  32.6402 , -32.9269 ,  13.7148  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.3214 ,  0.0000 ,  27.6430,  0.0000 ,  0      ,  13     ,  12     ,  3      , e05e,    2,  1.2777 , -0.8474 ,  0.8731 ,  1.5685  ,  1.2793 , -0.8485 ,  0.8712 ,  1.5653  ,  1.2748      , -0.8463      ,  0.8771      ,  1.5719       ,  1.2763      , -0.8474      ,  0.8752      ,  1.5687       ,  0.0000  ,  0.0106  , -0.0170  ,  0.0000  ,  0.0000  ,  0.0000  , -4.2463  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
618084901.3777 , 0.0004          , -0.6760  ,  0.1039  ,  0.9393  ,  0.6641  , -0.6745  ,  0.1047  ,  0.9388  ,  0.6615  ,  13.7148 ,  20.8471 ,  32.6402 , -32.9269 ,  13.7148  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.3214 ,  0.0000 ,  27.9644,  76.8218,  0      ,  15     ,  12     ,  3      , e05e,    2,  1.2782 , -0.8477 ,  0.8740 ,  1.5677  ,  1.2794 , -0.8458 ,  0.8747 ,  1.5654  ,  1.2752      , -0.8467      ,  0.8780      ,  1.5711       ,  1.2764      , -0.8447      ,  0.8787      ,  1.5687       ,  0.0000  ,  0.0125  , -0.0200  ,  0.0000  ,  0.0000  ,  0.0000  , -4.3657  ,  7.0839  ,  115.1061, -99999.0000,  175.4792,  0.0030    , 1
618084907.2091 , 0.0020          , -0.6760  ,  0.1043  ,  0.9390  ,  0.6641  , -0.6745  ,  0.1061  ,  0.9388  ,  0.6615  ,  13.7148 ,  20.8471 ,  32.4007 , -32.9269 ,  13.7148  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.3214 ,  0.3214 ,  0.3214 ,  0.3214 ,  0      ,  0      ,  0      ,  0      ,   50,    2,  1.2781 , -0.8477 ,  0.8745 ,  1.5678  ,  1.2783 , -0.8449 ,  0.8769 ,  1.5668  ,  1.2751      , -0.8466      ,  0.8785      ,  1.5711       ,  1.2754      , -0.8439      ,  0.8809      ,  1.5702       ,  0.0000  ,  0.0001  , -0.0001  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
618084907.5466 , 0.0021          , -0.6760  ,  0.1043  ,  0.9387  ,  0.6649  , -0.6759  ,  0.1061  ,  0.9388  ,  0.6615  ,  13.7148 ,  20.8471 ,  32.6402 , -32.9269 ,  13.7148  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.6429 ,  0.3214 ,  0.3214 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   50,    2,  1.2782 , -0.8478 ,  0.8744 ,  1.5683  ,  1.2771 , -0.8467 ,  0.8769 ,  1.5668  ,  1.2753      , -0.8467      ,  0.8784      ,  1.5716       ,  1.2741      , -0.8457      ,  0.8809      ,  1.5702       ,  0.0000  ,  0.0000  , -0.0009  ,  0.0023  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
618084907.8796 , 0.0022          , -0.6760  ,  0.1061  ,  0.9384  ,  0.6657  , -0.6759  ,  0.1061  ,  0.9388  ,  0.6615  ,  13.7148 ,  20.8471 ,  32.6402 , -32.9269 ,  13.7148  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.6429 ,  0.3214 ,  0.3214 ,  0.3214 ,  0      ,  0      ,  0      ,  0      ,   50,    2,  1.2771 , -0.8469 ,  0.8769 ,  1.5705  ,  1.2771 , -0.8467 ,  0.8769 ,  1.5668  ,  1.2741      , -0.8458      ,  0.8809      ,  1.5739       ,  1.2741      , -0.8457      ,  0.8809      ,  1.5702       ,  0.0000  ,  0.0053  , -0.0009  ,  0.0024  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
618084908.2019 , 0.0022          , -0.6760  ,  0.1061  ,  0.9384  ,  0.6665  , -0.6759  ,  0.1047  ,  0.9388  ,  0.6615  ,  13.9563 ,  20.8471 ,  32.4007 , -32.9269 ,  13.9563  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.3214 ,  0.3214 ,  0.3214 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   50,    2,  1.2770 , -0.8468 ,  0.8770 ,  1.5713  ,  1.2782 , -0.8476 ,  0.8747 ,  1.5654  ,  1.2741      , -0.8458      ,  0.8810      ,  1.5746       ,  1.2752      , -0.8466      ,  0.8787      ,  1.5687       ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0024  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
618084908.5285 , 0.0023          , -0.6760  ,  0.1061  ,  0.9381  ,  0.6625  , -0.6759  ,  0.1061  ,  0.9388  ,  0.6615  ,  13.7148 ,  20.8471 ,  32.4007 , -32.9269 ,  13.9563  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.3214 ,  0.3214 ,  0.3214 ,  0.3214 ,  0      ,  0      ,  0      ,  0      ,   50,    2,  1.2775 , -0.8472 ,  0.8765 ,  1.5670  ,  1.2771 , -0.8467 ,  0.8769 ,  1.5668  ,  1.2745      , -0.8462      ,  0.8804      ,  1.5704       ,  1.2741      , -0.8457      ,  0.8809      ,  1.5702       ,  0.0000  ,  0.0000  , -0.0010  , -0.0120  ,  0.0000  ,  0.0000  ,  0.0000  ,  0.0000  , -99999.0000, -99999.0000, -99999.0000,  0.0030    , 1
618084908.8318 , 0.0024          , -0.6760  ,  0.1061  ,  0.9381  ,  0.6625  , -0.6759  ,  0.1061  ,  0.9388  ,  0.6615  ,  13.7148 ,  20.8471 ,  32.4007 , -32.9269 ,  13.9563  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.3214 ,  0.6429 ,  0.6429 ,  0.3214 ,  0      ,  0      ,  0      ,  0      ,   50,    2,  1.2775 , -0.8472 ,  0.8765 ,  1.5670  ,  1.2771 , -0.8467 ,  0.8769 ,  1.5668  ,  1.2745      , -0.8462      ,  0.8804      ,  1.5704       ,  1.2741      , -0.8457      ,  0.8809      ,  1.5702       ,  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
618084909.1078 , 0.0025          , -0.6760  ,  0.1061  ,  0.9381  ,  0.6625  , -0.6759  ,  0.1061  ,  0.9388  ,  0.6615  ,  13.9563 ,  20.8471 ,  32.6402 , -32.9269 ,  13.9563  ,  20.8471  ,  32.6402  , -32.4528  , -64.0528   ,  0.6429 ,  0.3214 ,  0.3214 ,  0.3214 ,  0      ,  0      ,  0      ,  0      ,   50,    2,  1.2775 , -0.8472 ,  0.8765 ,  1.5670  ,  1.2771 , -0.8467 ,  0.8769 ,  1.5668  ,  1.2745      , -0.8462      ,  0.8804      ,  1.5704       ,  1.2741      , -0.8457      ,  0.8809      ,  1.5702       ,  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
