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continuous analog acquisition retrieving timing and value of each sample

I am using an USB-6008 device, with DAQmxBase driver on an linux PC.
When I use the NI data logger which is provided with the driver, the log file contains for each sample its timing and its value.
I would like to do the same, but in C code. How can I retreive as real time as possible both the timing and the value for each acquired sample in continuous mode ?
 
Thanks in advance,
Elisabeth
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