   printCounter ++;
     if (printCounter >= 10000) // Delay for writing data to the serial port
     {
-        
-        // Gather packet data...
-        pitch = AHRS.getPitch();
-        roll = AHRS.getRoll();
-        yaw = AHRS.getYaw();
-        xdelta = SGI.getX();
-        ydelta = SGI.getY();
-        zdelta = SGI.getZ();
-
-        // Build data packet for frame
-        datapacket += pitch;
-        datapacket += separator;
-        datapacket += roll;
-        datapacket += separator;
-        datapacket += yaw;
-        datapacket += separator;
-        datapacket += xdelta;
-        datapacket += separator;
-        datapacket += ydelta;
-        datapacket += separator;
-        datapacket += zdelta;
-        datapacket += separator;
-        datapacket += scaledData[0];
-        datapacket += separator;
-        datapacket += scaledData[1];
-        datapacket += separator;
-        datapacket += scaledData[2];
-        datapacket += separator;
-        datapacket += scaledData[3];
-        datapacket += separator;
-        datapacket += scaledData[4];
-        datapacket += separator;
-        datapacket += scaledData[5];
-        datapacket += separator;
-        datapacket += scaledData[6];
-        datapacket += separator;
-        datapacket += scaledData[7];
-        datapacket += separator;
-        datapacket += scaledData[8];
-        datapacket += separator;
-        datapacket += scaledData[9];
-        datapacket += separator;
-        datapacket += scaledData[10];
-
         // Print data packet to serial port
         HWSERIAL.println(datapacket);
 

        #endif

        // Clear data packet... just in case
        datapacket = "";
        
        // Reset print counter
        printCounter = 0;

	    if (resetGyroFlag == 1) {
	      resetGyroFlag = 0;
	    }

     // Insert data into datapacket in the ISR to avoid transmitting partial data
        // Gather packet data...
        pitch = AHRS.getPitch();
        roll = AHRS.getRoll();
        yaw = AHRS.getYaw();
        xdelta = SGI.getX();
        ydelta = SGI.getY();
        zdelta = SGI.getZ();

        // Build data packet for frame
        datapacket += pitch;
        datapacket += separator;
        datapacket += roll;
        datapacket += separator;
        datapacket += yaw;
        datapacket += separator;
        datapacket += xdelta;
        datapacket += separator;
        datapacket += ydelta;
        datapacket += separator;
        datapacket += zdelta;
        datapacket += separator;
        datapacket += scaledData[0];
        datapacket += separator;
        datapacket += scaledData[1];
        datapacket += separator;
        datapacket += scaledData[2];
        datapacket += separator;
        datapacket += scaledData[3];
        datapacket += separator;
        datapacket += scaledData[4];
        datapacket += separator;
        datapacket += scaledData[5];
        datapacket += separator;
        datapacket += scaledData[6];
        datapacket += separator;
        datapacket += scaledData[7];
        datapacket += separator;
        datapacket += scaledData[8];
        datapacket += separator;
        datapacket += scaledData[9];
        datapacket += separator;
        datapacket += scaledData[10];
	}
}

