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Sure, read the S3G specification or look at the Java code in ReplicatorG. And, yes, reading temps can and will interfere with the ongoing print if you do it too frequently. Keep it above 0.5 Hz.

https://github.com/makerbot/s3g/blob/master/doc/s3gProtocol.md
https://github.com/makerbot/ReplicatorG
https://github.com/makerbot/s3g (has some old Python code which is buggy, newer versions can be had by prying open MakerBot Desktop)