[R] periodic time series

[pengcafe]

http://r.789695.n4.nabble.com/file/n3063697/sample.xlsx sample.xlsx 

So, here are some sample data. 
1st column is a label for "12 hour long" days
2nd one a time stamp
The rest are the actual measured values for 4 different groups.

What would be the best model for such periodic data?

Thanks,
Andy
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