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To send data from your Amazon Monitron to S3, you are using the correct approach by connecting it to Kinesis and then using Firehose to deliver the data to your S3 bucket. The documentation mentions that Kinesis is one of the recommended ways to export live data from Monitron for analysis.
Regarding billing, Kinesis and S3 have free tiers that should cover light usage from a single Monitron device. You can refer to the individual service pricing pages on the AWS website for more details on usage limits and costs for higher throughput.
If the data is not appearing in your S3 bucket, first check that the IAM role you created has the necessary permissions to access both Kinesis and S3. You can also verify in the Kinesis console that records are being delivered successfully to the Firehose delivery stream.
To automate ongoing data delivery, you do not need to take any manual actions once the Kinesis - Firehose - S3 pipeline is set up. New sensor records will automatically be delivered to S3 as they are produced.
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