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
652007704.5172 , 0.0000          , -0.7260  ,  0.1750  ,  0.7395  ,  1.8155  , -0.7195  ,  0.1783  ,  0.7409  ,  1.7857  , -17.9162 , -17.2747 , -9.2737  , -5.6636  , -17.9162  , -17.2747  , -9.2737   , -5.6636   , -4.6151    ,  0.6429 ,  0.6429 ,  0.6429 ,  0.9643 ,  0      ,  0      ,  0      ,  0      ,   50,    2,  1.2001 , -0.8803 ,  0.9233 ,  2.5904  ,  1.2056 , -0.8721 ,  0.9295 ,  2.5652  ,  1.1970      , -0.8788      ,  0.9273      ,  2.5940       ,  1.2024      , -0.8707      ,  0.9335      ,  2.5688       ,  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
652007704.7073 , 0.0001          , -0.7260  ,  0.1750  ,  0.7395  ,  1.8155  , -0.7195  ,  0.1768  ,  0.7409  ,  1.7842  , -18.1576 , -17.5145 , -9.5133  , -5.9007  , -17.9162  , -17.2747  , -9.2737   , -5.6636   , -4.6151    ,  0.3214 ,  0.6429 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   50,    2,  1.2001 , -0.8803 ,  0.9233 ,  2.5904  ,  1.2068 , -0.8732 ,  0.9274 ,  2.5623  ,  1.1970      , -0.8788      ,  0.9273      ,  2.5940       ,  1.2037      , -0.8718      ,  0.9314      ,  2.5659       ,  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
652007760.0437 , 0.0154          , -0.7260  ,  0.1750  ,  0.7395  ,  1.8155  , -0.7180  ,  0.1783  ,  0.7394  ,  1.7842  , -17.9162 , -17.2747 , -9.2737  , -5.6636  , -17.9162  , -17.2747  , -9.2737   , -5.6636   , -4.6151    ,  0.3214 ,  0.3214 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   50,    2,  1.2001 , -0.8803 ,  0.9233 ,  2.5904  ,  1.2079 , -0.8713 ,  0.9288 ,  2.5623  ,  1.1970      , -0.8788      ,  0.9273      ,  2.5940       ,  1.2047      , -0.8699      ,  0.9329      ,  2.5659       ,  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
652007820.0464 , 0.0321          , -0.7260  ,  0.1750  ,  0.7395  ,  1.8155  , -0.7180  ,  0.1768  ,  0.7394  ,  1.7828  , -17.6747 , -17.0350 , -9.2737  , -5.4266  , -17.6747  , -17.0350  , -9.2737   , -5.4266   , -4.1682    ,  0.3214 ,  0.3214 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   50,    2,  1.2001 , -0.8803 ,  0.9233 ,  2.5904  ,  1.2091 , -0.8724 ,  0.9267 ,  2.5594  ,  1.1970      , -0.8788      ,  0.9273      ,  2.5940       ,  1.2060      , -0.8710      ,  0.9308      ,  2.5630       ,  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
652007880.0478 , 0.0488          , -0.7260  ,  0.1750  ,  0.7395  ,  1.8155  , -0.7180  ,  0.1768  ,  0.7380  ,  1.7842  , -17.4333 , -17.0350 , -9.2737  , -5.4266  , -17.4333  , -17.0350  , -9.2737   , -5.4266   , -4.1682    ,  0.3214 ,  0.3214 ,  0.3214 ,  0.3214 ,  0      ,  0      ,  0      ,  0      ,   50,    2,  1.2001 , -0.8803 ,  0.9233 ,  2.5904  ,  1.2099 , -0.8730 ,  0.9259 ,  2.5594  ,  1.1970      , -0.8788      ,  0.9273      ,  2.5940       ,  1.2067      , -0.8716      ,  0.9300      ,  2.5630       ,  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
652007940.0497 , 0.0654          , -0.7260  ,  0.1750  ,  0.7395  ,  1.8155  , -0.7180  ,  0.1768  ,  0.7394  ,  1.7828  , -17.1918 , -16.7952 , -9.0342  , -5.1895  , -17.1918  , -16.7952  , -9.0342   , -5.1895   , -3.7213    ,  0.3214 ,  0.3214 ,  0.3214 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   50,    2,  1.2001 , -0.8803 ,  0.9233 ,  2.5904  ,  1.2091 , -0.8724 ,  0.9267 ,  2.5594  ,  1.1970      , -0.8788      ,  0.9273      ,  2.5940       ,  1.2060      , -0.8710      ,  0.9308      ,  2.5630       ,  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
652008000.0809 , 0.0821          , -0.7260  ,  0.1750  ,  0.7395  ,  1.8155  , -0.7180  ,  0.1768  ,  0.7394  ,  1.7828  , -16.9503 , -16.5554 , -9.0342  , -5.1895  , -16.9503  , -16.5554  , -9.0342   , -5.1895   , -3.7213    ,  0.3214 ,  0.3214 ,  0.6429 ,  0.6429 ,  0      ,  0      ,  0      ,  0      ,   50,    2,  1.2001 , -0.8803 ,  0.9233 ,  2.5904  ,  1.2091 , -0.8724 ,  0.9267 ,  2.5594  ,  1.1970      , -0.8788      ,  0.9273      ,  2.5940       ,  1.2060      , -0.8710      ,  0.9308      ,  2.5630       ,  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
652008045.6585 , 0.0948          , -0.7260  ,  0.1750  ,  0.7395  ,  1.8155  , -0.7180  ,  0.1768  ,  0.7394  ,  1.7828  , -16.7089 , -16.5554 , -9.0342  , -4.9524  , -16.7089  , -16.5554  , -8.7947   , -4.9524   , -3.7213    ,  0.3214 ,  0.3214 ,  0.3214 ,  0.3214 ,  0      ,  0      ,  0      ,  0      ,   50,    2,  1.2001 , -0.8803 ,  0.9233 ,  2.5904  ,  1.2091 , -0.8724 ,  0.9267 ,  2.5594  ,  1.1970      , -0.8788      ,  0.9273      ,  2.5940       ,  1.2060      , -0.8710      ,  0.9308      ,  2.5630       ,  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
652008046.0614 , 0.0949          , -0.7260  ,  0.1750  ,  0.7395  ,  1.8155  , -0.7165  ,  0.1768  ,  0.7394  ,  1.7828  , -16.9503 , -16.5554 , -9.0342  , -4.9524  , -16.7089  , -16.5554  , -8.7947   , -4.9524   , -3.7213    ,  0.3214 ,  0.3214 ,  0.6429 ,  0.3214 ,  0      ,  0      ,  0      ,  0      ,   50,    2,  1.2001 , -0.8803 ,  0.9233 ,  2.5904  ,  1.2104 , -0.8706 ,  0.9267 ,  2.5594  ,  1.1970      , -0.8788      ,  0.9273      ,  2.5940       ,  1.2072      , -0.8692      ,  0.9308      ,  2.5630       ,  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
