Digital tracking enables telescopes to detect asteroids several times fainter than conventional techniques. We describe our optimized methodology to acquire, process, and interpret digital tracking observations, and we apply it to probe the apparent magnitude distribution of main belt asteroids fainter than any previously detected from the ground. All-night integrations with the Dark Energy Camera (DECam) yield 95% completeness at $R$ magnitude 25.0, and useful sensitivity to $R=25.6$ mag when we use an analytical detection model to correct flux overestimation bias. In a single DECam field observed over two nights, we detect a total of 3234 distinct asteroids, of which 3123 are confirmed on both nights. At opposition from the Sun, we find a sky density of $697 pm 15$ asteroids per square degree brighter than $R = 25.0$ mag, and $1031 pm 23$ brighter than $R = 25.6$ mag. We agree with published results for the sky density and apparent magnitude distribution of asteroids brighter than $R=23$ mag. For a power law defined by $dN/dR propto 10^{alpha R}$, we find marginally acceptable fits with a constant slope $alpha = 0.28 pm 0.02$ from $R=20$ to 25.6 mag. Better fits are obtained for a broken power law with $alpha=0.218 pm 0.026$ for $R=20$ to 23.5 mag, steepening to $alpha=0.340 pm 0.025$ for $R = 23.5$ to 25.6 mag. The constant or steepening power law indicates asteroids fainter than $R = 23.5$ mag are abundant, contrary to some previous claims but consistent with theory.
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