To import formatted data, textscan is usually a good option.
Textscan requires you to define a format. Assuming you want to separate all the elements in the file (value, every component from the timestamp separately, id-number), your format could look like this:
fmt = %f "%u-%u-%u %u:%u:%u+%u" %u
In this format; the '%f' and '%u' represent the datatypes that MATLAB is supposed to use for the data it reads (floating point, integer). All the other signs ("-:+) are 'literals'. They tell MATLAB that it will literally find a colon (that should be ignored).
In addition, you will need to define in the textscan-command that the delimiter is a comma
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