Assuming your data is in a file called foo.csv, you could do the following. This was tested against Pandas 0.17
df = pd.read_csv('foo.csv', names=['sample_time', 'pos', 'off', 'histogram', '1', '2', '3', '4', '5', '6', '7', '8', '9', '10', '11', '12', '13', '14', '15', '16', '17'], skiprows=1)