diff --git a/master/master/config.h b/master/master/config.h
--- a/master/master/config.h
+++ b/master/master/config.h
@@ -33,6 +33,8 @@
 // Slave Sensors config (slavesensors.c)
 // --------------------------------------------------------------------------
 
+// NOT USED. Could integrate into slavesensors.c setup function for configurability eventually.
+// Currently manual configuration of sensors is done in slavesensors.c
 #define SLAVE0_SENSORS BOARDTEMP
 #define SLAVE1_SENSORS BOARDTEMP | HUMIDITY | TEMPERATURE | PRESSURE | AMBIENTLIGHT
 #define SLAVE2_SENSORS BOARDTEMP | GEIGER
@@ -103,7 +105,7 @@
 // APRS comment: this goes in the comment portion of the APRS message. You
 // might want to keep this short. The longer the packet, the more vulnerable
 // it is to noise.
-#define APRS_COMMENT    "Custom payload data here, eventually..."
+#define APRS_COMMENT    "Payload data..."
 
 // Transmit the APRS sentence every X milliseconds
 #define APRS_TRANSMIT_PERIOD 5000
diff --git a/master/master/lib/aprs.c b/master/master/lib/aprs.c
--- a/master/master/lib/aprs.c
+++ b/master/master/lib/aprs.c
@@ -15,9 +15,9 @@
 #include "ax25.h"
 #include <stdio.h>
 
-const char *gps_aprs_lat = "omgmylatitude";
-const char *gps_aprs_lon = "omgmylongitude";
-const char *gps_time = "omgmygpstime";
+const char *gps_aprs_lat = "latitude";
+const char *gps_aprs_lon = "longitude";
+const char *gps_time = "gpstime";
 float gps_altitude = 123.5;
 int gps_course = 5;
 int gps_speed = 13;
diff --git a/master/master/lib/serparser.c b/master/master/lib/serparser.c
--- a/master/master/lib/serparser.c
+++ b/master/master/lib/serparser.c
@@ -62,20 +62,20 @@ static void setParserState(uint8_t state
 
 // Receive data on USART
 
-char buffmeh[16];
+char debugBuff[16];
 
 ISR(USART0__RX_vect)
 {
 	led_on(POWER);
 	buffer[bufferDataPosition % BUFFER_SIZE] = UDR0;
 	bufferDataPosition = (bufferDataPosition + 1) % BUFFER_SIZE;
-	/*sprintf(buffmeh, "bdp: %d, bpp: %d \r\n", bufferDataPosition, bufferParsePosition);
-	serial0_sendString((buffmeh)); */
+	/*sprintf(debugBuff, "bdp: %d, bpp: %d \r\n", bufferDataPosition, bufferParsePosition);
+	serial0_sendString((debugBuff)); */
 }
 
 
 
-#define DEBUG
+//#define DEBUG
 
 // Parse data from circular buffer
 int serparser_parse(void)
@@ -94,14 +94,14 @@ int serparser_parse(void)
 			if(byte == '[') // Start of frame; keep parsing
 			{
 				#ifdef DEBUG
-				serial0_sendString("start ok\r\n");
+				serial0_sendString("start\r\n");
 				#endif
 				setParserState(STATE_GETID);
 			}
 			else // Not start of frame, reset
 			{
 				#ifdef DEBUG
-				serial0_sendString("not start\r\n");
+				//serial0_sendString("invalid\r\n");
 				#endif
 				setParserState(STATE_RESET);
 				return PARSERESULT_NODATA; // no valid start bit; better luck next time. run the function the next time around the main loop.
@@ -114,7 +114,7 @@ int serparser_parse(void)
 			if(byte == MODULE_ID) // Message intended for this module; keep parsing
 			{
 				#ifdef DEBUG
-				serial0_sendString("dest ok\r\n");
+				serial0_sendString("dest\r\n");
 				#endif
 				checksumCalc += byte;
 				setParserState(STATE_GETDATATYPE);
@@ -122,7 +122,7 @@ int serparser_parse(void)
 			else // Transmission is intended for another module; reset
 			{
 				#ifdef DEBUG
-				serial0_sendString("bad dest\r\n");
+				//serial0_sendString("bad dest\r\n");
 				#endif
 				setParserState(STATE_RESET);
 			}
@@ -132,7 +132,7 @@ int serparser_parse(void)
 		else if(parserState == STATE_GETDATATYPE)
 		{
 			#ifdef DEBUG
-			serial0_sendString("type ok\r\n");
+			serial0_sendString("type\r\n");
 			#endif
 			receivedDataType = byte; // Store the type of data receiving
 			checksumCalc += byte;
@@ -145,9 +145,9 @@ int serparser_parse(void)
 			if (byte == ']') // End of frame
 			{
 				#ifdef DEBUG
-				serial0_sendString("eof ok\r\n");
-				sprintf(buffmeh, "recvd %d bytes data\r\n", dataLength);
-				serial0_sendString((buffmeh));
+				serial0_sendString("eof\r\n");
+				sprintf(debugBuff, "%d B, sum=%d\r\n", dataLength, checksumCalc);
+				serial0_sendString((debugBuff));
 				#endif
 				
 				setParserState(STATE_GETCHECKSUM);
@@ -158,7 +158,7 @@ int serparser_parse(void)
 			else // Still receiving data
 			{
 				#ifdef DEBUG
-				serial0_sendString("data ok\r\n");
+				serial0_sendString("data\r\n");
 				#endif
 				receivedPayload[dataLength] = byte;
 				dataLength++;
@@ -167,7 +167,7 @@ int serparser_parse(void)
 				// Data buffer overrun protection
 				if(dataLength > MAX_PAYLOAD_LEN) {
 					#ifdef DEBUG
-					serial0_sendString("data ovf\r\n");
+					serial0_sendString("ovf\r\n");
 					#endif
 					setParserState(STATE_RESET);
 					return PARSERESULT_FAIL;
@@ -185,11 +185,17 @@ int serparser_parse(void)
 		{
 			// TODO: Compare checksums
 			if(byte == checksumCalc) {
-				serial0_sendString("checksum ok\r\n");
+				serial0_sendString("check\r\n");
+				setParserState(STATE_RESET);
+				return PARSERESULT_PARSEOK;
 			}
 			else {
-				serial0_sendString("checksum fail\r\n");
+				serial0_sendString("bcheck\r\n");
+				setParserState(STATE_RESET);
+				return PARSERESULT_FAIL;
 			}
+			
+			/*
 			if(bufferParsePosition == bufferDataPosition)
 			{
 				// We are at the end of the line. No more data to parse.
@@ -203,6 +209,7 @@ int serparser_parse(void)
 				// return now so we hit it the next time around
 				return PARSERESULT_PARSEOK;
 			}
+			*/
 		}			
 	}
 	return PARSERESULT_NODATA;
diff --git a/master/master/lib/slavesensors.c b/master/master/lib/slavesensors.c
--- a/master/master/lib/slavesensors.c
+++ b/master/master/lib/slavesensors.c
@@ -15,6 +15,7 @@
 #include "../config.h"
 #include "serial.h"
 #include "serparser.h"
+#include "slavesensors.h"
 
 // Serial Commands
 enum sensorTypes // CMD ID#
@@ -29,68 +30,120 @@ enum sensorTypes // CMD ID#
 	CAMERA = (1<<5),
 };
 
-uint8_t receptionFinished = 0;
 uint8_t currentSlave = 0;
 uint8_t currentSlaveSensor = 0;
 
 uint8_t maxSlave = 8;
-uint16_t slaves[8];
+uint8_t maxSensorsPerSlave = 8;
+uint16_t slaves[8][8];
+
+bool requesting = false;
 
 void slavesensors_setup() 
 {
 	// Empty array
-	for(int i=0; i<8; i++) 
+	for(int i=0; i<maxSlave; i++) 
 	{
-		slaves[i] = 0;
+		for(int j=0; j<maxSensorsPerSlave; j++) 
+		{
+			slaves[i][j] = NONE;
+		}			
 	}	
 	
-	// Configure sensors
-	slaves[0] = SLAVE0_SENSORS;
-	slaves[1] = SLAVE1_SENSORS;
-	slaves[2] = SLAVE2_SENSORS;
-	slaves[3] = SLAVE3_SENSORS;
-	slaves[4] = SLAVE4_SENSORS;
-	slaves[5] = SLAVE5_SENSORS;
-	slaves[6] = SLAVE6_SENSORS;
-	slaves[7] = SLAVE7_SENSORS;	
+	// Slave Configuration
+		
+	// slave 0
+	slaves[0][0] = BOARDTEMP;
+	
+	// slave 1
+	slaves[1][0] = BOARDTEMP;
+	slaves[1][1] = HUMIDITY;
+	slaves[1][2] = TEMPERATURE;
+	slaves[1][3] = PRESSURE;
+	slaves[1][4] = AMBIENTLIGHT;
+	
+	// slave 2
+	slaves[2][0] = BOARDTEMP;
+	slaves[2][1] = GEIGER;
+	
+	// slave 3
+	slaves[3][0] = BOARDTEMP;
+	slaves[3][1] = CAMERA;
+	
+}
+
+bool slavesensors_isrequesting() 
+{
+	return requesting;	
+}
+
+void slavesensors_startprocess() 
+{
+	requesting = true;
+	slavesensors_request();		
+}
+
+static void slavesensors_request() 
+{
+	serial_sendCommand(currentSlave + 0x30, currentSlaveSensor + 0x30, "");
 }
 
-bool slavesensors_process(uint8_t parseResult) 
+void slavesensors_process(uint8_t parseResult) 
 {
-	// Periodic: Every Iteration
-		
-	// maybe we should do this in an ISR on byte received. only problem is that this could interrupt things,
-	// but we only care about interruption during logging and such. don't log when parsing a message?
+	
+	if(!requesting) {
+		// we got a command when we didn't request anything. probably skip it.
+		return;
+	}
+	
+	// TODO: timeout. If we're at NODATA for a long time and we are requesting, that's an issue.
+	else if(parseResult == PARSERESULT_NODATA) {
+		// Wait for data
+	}
 	
-	// not anymore:
-	//receptionFinished = serparser_parse();
-	// now we need some way to know if a transmission finished. Probably set a flag in main from the
-	// return that is "hasUnhandledTransmission = true"
-		
 	// Finished reception of a message (one sensor data value). If not finished, send out command to get the next one
-	if(parseResult == PARSERESULT_PARSEOK)
+	else if(parseResult == PARSERESULT_PARSEOK)
 	{
-		bool weFinishedTHeLastSlaveSensor = false; // ex.
-		// if we finished the final reception for this slave, set gettingValues = false;
-		if(currentSlave >= maxSlave && weFinishedTHeLastSlaveSensor)
+		// If we finished all sensors for all slaves
+		if(slaves[currentSlave+1][0] == NONE && slaves[currentSlave][currentSlaveSensor+1] == NONE) // If next sensor is none and finished all slaves, reset
 		{
 			currentSlave = 0;
-			return false; // We're done for now!
+			currentSlaveSensor = 0;
+			requesting = false;
 		}
+		// If we finished up one slave, go to the next
+		else if(slaves[currentSlave][currentSlaveSensor+1] == NONE) 
+		{
+			currentSlave++;
+			currentSlaveSensor = 0;
+			requesting = true;
+			slavesensors_request();
+		}
+		// If we haven't finished a slave (or all of them), just get the next sensor of the current slave
 		else
 		{
-			// Request data from the next slave
-			currentSlave++;
-			
-			// Need to check the next bit over to see if it has that...
-			
-			serial_sendCommand(currentSlave, 'a', ""); // send req for data
-			return true; // Keep going...
+			// request data for the current sensor of the current slave
+			currentSlaveSensor++;
+			requesting = true;
+			slavesensors_request();	
 		}
 	}
-	// TODO: Handle errors. If we got a parse fail, then we probably need to retransmit the message. etc.
-	else 
+	
+	// If fail, try retransmit. Or we could skip and hit it next time.
+	// TODO: Maximum number of retransmissions
+	else if(parseResult == PARSERESULT_FAIL) {
+		if(requesting) {
+			slavesensors_request();	// re-request
+		}			
+	}
+	
+	
+	else if(parseResult == PARSERESULT_STILLPARSING)
 	{
-		return true; // Keep going...
+		return; // do nothing
+	}
+	else {
+		// something is terribly wrong!
+		return;
 	}
 }		
\ No newline at end of file
diff --git a/master/master/lib/slavesensors.h b/master/master/lib/slavesensors.h
--- a/master/master/lib/slavesensors.h
+++ b/master/master/lib/slavesensors.h
@@ -15,9 +15,12 @@
 #define SLAVESENSORS_H_
 
 #include <stdbool.h>
+#include <inttypes.h>
 
+bool slavesensors_isrequesting();
 void slavesensors_setup();
-bool slavesensors_process();
-
+void slavesensors_startprocess();
+static void slavesensors_request();
+void slavesensors_process(uint8_t parseResult);
 
 #endif /* SLAVESENSORS_H_ */
\ No newline at end of file
diff --git a/master/master/master.c b/master/master/master.c
--- a/master/master/master.c
+++ b/master/master/master.c
@@ -64,12 +64,8 @@ int main(void)
 	uint32_t lastAprsBroadcast = 0;
 	uint32_t lastLog = 0;
 	
-	// If we are currently processing sensor data
-	bool isProcessing = false;
-	
 	// Result of last parser run
 	int parseResult = PARSERESULT_NODATA;
-	bool haveDataToHandle = false;
 	
 	// Write CSV header to SD card
 	logger_log("ProgramTime,LastAprsBroadcast,LastLog\n");
@@ -106,19 +102,18 @@ int main(void)
 			//serial0_sendString("Initiating APRS transmission...\r\n");
 			
 			// Start getting values for next transmission
-			isProcessing = true;
+			// TODO: Check ifRequesting first. If we are still requesting, something is terribly wrong.
+			if(!slavesensors_isrequesting())
+			{
+				slavesensors_startprocess();
+			}
 			
 			lastAprsBroadcast = time_millis();
 		}			
 		
 		parseResult = serparser_parse();
-		
-		// TODO: If we receive a command, we should still process it even if we aren't isProcessing, right?
-		// Maybe we should isolate the received command handling ("Execution") and the issuing of requests.
-		//if(isProcessing) 
-		//{
-		//	isProcessing = slavesensors_process(parseResult);
-		//}
+		slavesensors_process(parseResult);
+
 		wdt_reset();
     }
 }
\ No newline at end of file