pgbench log output

All;

I setup a test sql script with a number of inserts, I used pgbench to
run it and I specified the -l log option. The resulting log file looks
like this:

$ head pgbench_log.12694
0 1 170027 0 1662132851 580065
1 1 168589 0 1662132851 581837
2 1 165515 0 1662132851 581860
3 1 162207 0 1662132851 581870
4 1 159079 0 1662132851 581883
5 1 156086 0 1662132851 582010
6 1 153096 0 1662132851 582027
7 1 150002 0 1662132851 582040
8 1 146826 0 1662132851 582051
9 1 143813 0 1662132851 582065

However I do not understand what data is represented / how to decipher
the log file, can someone enlighten me or point me to docs that lay this
out?

Thanks in advance