     CAN.init_Filt(6, 0, 0x2A8);
     CAN.init_Filt(7, 0, 0x3FF);
     */
-    Serial.println("CAN Initialized");
+    // Print in CSV format
+    Serial.println("time, CAN-ID, b0, b1, b2, b3, b4, b5, b6, b7");
+    Serial.println();
 }
 
 


START_INIT:
    if(CAN_OK != CAN.begin(CAN_500KBPS)){
        Serial.println("Failed to initialize CAN");
        Serial.println("Retrying..");
        delay(100);
        goto START_INIT;
    }

    Serial.println("Starting to initialize CAN");

    //Set filter masks
    CAN.init_Mask(0, 0, 0xfff);

    unsigned char data[8];

    // Print in CSV format
    if(CAN_MSGAVAIL == CAN.checkReceive()){
        CAN.readMsgBuf(&length, data);
        Serial.print(millis());
        Serial.print(",");
        Serial.print(CAN.getCanId(),HEX);
        for(int i = 0; i<length; i++){
            Serial.print(",");
