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Where is contact sensor plugin data going?

I have created a contact sensor plug-in for gazebo as explained by the tutorials on the gazebo site. What I don't understand is how to access the data it collects. I would like to read the force data and put it into a text file to do some analysis on but I do not know how to access it. Any help?

I am using ubuntu indigo 14.04 and gazebo 4.04