diff --git a/master/master/config.h b/master/master/config.h
--- a/master/master/config.h
+++ b/master/master/config.h
@@ -43,20 +43,8 @@
 // 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
-#define SLAVE3_SENSORS BOARDTEMP | CAMERA
-#define SLAVE4_SENSORS NONE
-#define SLAVE5_SENSORS NONE
-#define SLAVE6_SENSORS NONE
-#define SLAVE7_SENSORS NONE
-
-// MAX_SLAVES should be one more than the number of slaves we actually have (loop ends when next slave first sensor is NONE)
-#define MAX_SLAVES 8
-#define MAX_SLAVE_SENSORS 8
+#define MAX_NUM_SLAVES 5  // Maximum number of nodes in the system
+#define MAX_NUM_SENSORS 20 // Maximum number of unique types of sensors in the system
 
 // Node identifier of log destination xbee
 #define XBEE_LOGDEST_NAME "HAB-LOGGER"
diff --git a/master/master/lib/gps.c b/master/master/lib/gps.c
--- a/master/master/lib/gps.c
+++ b/master/master/lib/gps.c
@@ -120,15 +120,10 @@ enum decodeState {
 }decodeState;
 
 
-char debugBuff[128];
-
 ISR(USART1_RX_vect)
 {
 	nmeaBuffer[nmeaBufferDataPosition % NMEABUFFER_SIZE] = UDR1;
 	nmeaBufferDataPosition = (nmeaBufferDataPosition + 1) % NMEABUFFER_SIZE;
-	//serial0_sendChar(UDR1);
-	//snprintf(debugBuff, 32, "GPS: bdp: %d, bpp: %d decodestate: %u \r\n", nmeaBufferDataPosition, nmeaBufferParsePosition, decodeState);
-	//serial0_sendString((debugBuff));
 }
 
 
@@ -163,9 +158,6 @@ void parse_gps_transmission(void){
 		
 		byte = nmeaBuffer[nmeaBufferParsePosition];
 		
-		//snprintf(debugBuff, 64, "GPSParse: byte [%c] decodestate: %u bp: %u pp: %u\r\n",  byte, decodeState, nmeaBufferDataPosition, nmeaBufferParsePosition);
-		//serial0_sendString((debugBuff));
-		
 		if(decodeState == INITIALIZE) //start of transmission sentence
 		{
 			if(byte == '$') {
@@ -642,9 +634,8 @@ void parse_gps_transmission(void){
 				}
 				#ifdef DEBUG_NMEA
 				serial0_sendString("OMG GOT TO CHECKSUM!\r\n");
-				#endif
+				#endif
 				
-				serial0_sendString((debugBuff));
 				setParserState(INITIALIZE);
 				numBytes = 0; //prep for next phase of parse
 			}
diff --git a/master/master/lib/sensordata.c b/master/master/lib/sensordata.c
--- a/master/master/lib/sensordata.c
+++ b/master/master/lib/sensordata.c
@@ -13,33 +13,31 @@
 #include "../config.h"
 #include "sensordata.h"
 
-int16_t boardTemps[MAX_SLAVES];
-uint16_t variousSensors[MAX_SLAVES * (MAX_SLAVE_SENSORS - 1)];
+int16_t slaves[MAX_NUM_SLAVES][MAX_NUM_SENSORS];
 
 void sensordata_setup() 
 {
-	for(int i=0; i<MAX_SLAVES; i++)
-	{
-		boardTemps[i] = 0;
+	for(int i=0; i<MAX_NUM_SLAVES; i++) {
+		for(int j=0; j<MAX_NUM_SLAVES; j++) {
+			slaves[i][j] = -32768; // minimum value of 16 bit integer
+		}
 	}
 }
 
-void sensordata_set(uint8_t type, uint16_t value) 
+void sensordata_set(uint8_t nodeID, uint8_t type, uint16_t value)
 {
-	variousSensors[type] = value;
-}
-
-uint16_t sensordata_get(uint8_t type) 
-{
-	return variousSensors[type];
+	if(nodeID < MAX_NUM_SLAVES) {
+		slaves[nodeID][type] = value;
+	}	
 }
 
-void sensordata_setBoardTemp(uint8_t slaveID, int16_t value) 
+uint16_t sensordata_get(uint8_t nodeID, uint8_t type) 
 {
-	boardTemps[slaveID] = value;
+	// Avoid reading out of bad places!
+	if(nodeID < MAX_NUM_SLAVES) {
+		return slaves[nodeID][type];
+	}
+	else {
+		return 0;
+	}
 }
-
-int16_t sensordata_getBoardTemp(uint8_t slaveID)
-{
-	return boardTemps[slaveID];
-}
\ No newline at end of file
diff --git a/master/master/lib/sensordata.h b/master/master/lib/sensordata.h
--- a/master/master/lib/sensordata.h
+++ b/master/master/lib/sensordata.h
@@ -17,8 +17,8 @@
 #include "slavesensors.h"
 
 void sensordata_setup();
-void sensordata_set(uint8_t type, uint16_t value);
-uint16_t sensordata_get(uint8_t type);
+void sensordata_set(uint8_t nodeID, uint8_t type, uint16_t value);
+uint16_t sensordata_get(uint8_t nodeID, uint8_t type);
 void sensordata_setBoardTemp(uint8_t slaveID, int16_t value);
 int16_t sensordata_getBoardTemp(uint8_t slaveID);
 
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
@@ -90,7 +90,7 @@ ISR(USART0_RX_vect)
 
 
 
-#define DEBUG
+//#define DEBUG
 
 // Parse data from circular buffer
 int serparser_parse(void)
@@ -129,7 +129,7 @@ int serparser_parse(void)
 			#ifdef DEBUG
 			serial0_sendString("type\r\n");
 			#endif
-			receivedPayloadType = byte; // Store the type of data receiving
+			receivedPayloadType = byte - 0x30; // Store the type of data receiving
 			checksumCalc += byte;
 			setParserState(STATE_GETDATA);
 		}
@@ -194,7 +194,8 @@ int serparser_parse(void)
 				#endif
 				setParserState(STATE_RESET);
 				
-				return PARSERESULT_FAIL;
+				return PARSERESULT_PARSEOK;
+				// !!!!!!!!!!!!!DEBUGGGGG ignore checksum ///// return PARSERESULT_FAIL;
 			}
 			
 			/*
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
@@ -24,22 +24,18 @@
 uint8_t currentSlave = 0;
 uint8_t currentSlaveSensor = 0;
 
-uint16_t slaves[MAX_SLAVES][MAX_SLAVE_SENSORS];
-
 bool requesting = false;
 
 void slavesensors_setup() 
 {
-
+	
 }
 
-
 #define DEBUG_NETWORKSCAN
 
 char* bufPtr = 0x00;
-char debugBuf[64];
-char slaveAddressLow[6][9];
-char slaveAddressHigh[6][9];
+char slaveAddressLow[MAX_NUM_SLAVES][9];
+char slaveAddressHigh[MAX_NUM_SLAVES][9];
 uint8_t loggerIndex = 255;
 uint8_t nodeCount = 0;
 
@@ -60,12 +56,9 @@ void slavesensors_network_scan() {
 
 	char nameString[20] = "NONE";
 	
-	char slaveNames[6][16]; // Hold 16-char addresses of max 6 nodes, we only need them for debug so they are local 
-	
-	
+	char slaveNames[MAX_NUM_SLAVES][16]; // Hold 16-char addresses of max MAX_NUM_SLAVES nodes, local so the memory can be reused
 	
 	// wait for OK
-	//todo
 	if(atOK == 0)
 	{
 		led_on(LED_CYCLE);
@@ -105,7 +98,7 @@ void slavesensors_network_scan() {
 			
 			// If we've finished one chunk (including the newline after it). Can't be else if because it controls increment.
 			if(lineCount == 9) {
-				// bufPtr should be null at this point, because we read in a newlinem after one chunk
+				// bufPtr should be null at this point, because we read in a newline after one chunk
 				nodeCount++;
 				lineCount = 0;
 			}
@@ -139,6 +132,8 @@ void slavesensors_network_scan() {
 	led_off(LED_SIDEBOARD);
 
 	#ifdef DEBUG_OUTPUT
+	
+	char debugBuf[64];
 	serial0_sendString("Discovered: \r\n");
 	for(int i=0; i<nodeCount; i++) {
 		snprintf(debugBuf, 64, "  %s - %s%s\r\n", slaveNames[i],slaveAddressHigh,slaveAddressLow[i]);
@@ -148,6 +143,7 @@ void slavesensors_network_scan() {
 	if(atOK != 0) {
 		serial0_sendString("AT mode failed \r\n");
 	}
+	
 	#endif
 	
 	for(int i=0; i<nodeCount; i++) 
@@ -245,6 +241,8 @@ int xbeeIsOk()
 	}
 }
 
+
+
 bool slavesensors_isrequesting() 
 {
 	return requesting;	
@@ -264,7 +262,7 @@ void slavesensors_request()
 }
 
 
-int numValues = 0; // number of values that the slave is about to send (testing)
+int numReadingsToExpect = 0; // number of values that the slave is about to send (testing)
 
 
 // TODO: needs to skip logger!
@@ -287,37 +285,48 @@ void slavesensors_process(uint8_t parseR
 		// ASCII payload
 		uint8_t len = getPayloadLength();
 		uint8_t* load = getPayload();
-		
 		uint8_t type = getPayloadType();
-
-		
 		uint16_t parsedVal = atoi(load);
-		
-		// Store data in structure
-		//sensordata_set(slaves[currentSlave][currentSlaveSensor], parsedVal);
-		
-		// If we finished all sensors for all slaves
-		if(currentSlave >= nodeCount && currentSlaveSensor >= numValues)
-		{
+
+		// Special case for slave telling us how many things we're about to get		
+		if(type + 0x30 == '@') {
+			serial0_sendString("Got an awesome count!\r\n");
+			serial0_sendChar(parsedVal + 0x30);
+			serial0_sendString("\r\n");
+			numReadingsToExpect = parsedVal;
 			currentSlave = 0;
 			currentSlaveSensor = 0;
-			requesting = false;
+			requesting = true;
 		}
-		// If we finished up one slave, go to the next
-		else if(currentSlaveSensor >= numValues) 
-		{
-			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 for the current sensor of the current slave
-			currentSlaveSensor++;
-			requesting = true;
-			slavesensors_request();	
+		else {
+		
+			// Store data in structure
+			sensordata_set(currentSlave,type,parsedVal);
+			serial0_sendString("Stored some sexy data!\r\n");
+		
+			// If we finished all sensors for all slaves
+			if(currentSlave >= nodeCount && currentSlaveSensor >= numReadingsToExpect)
+			{
+				currentSlave = 0;
+				currentSlaveSensor = 0;
+				requesting = false;
+			}
+			// If we finished up one slave, go to the next
+			else if(currentSlaveSensor >= (numReadingsToExpect-1)) 
+			{
+				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 for the current sensor of the current slave
+				currentSlaveSensor++;
+				requesting = true;
+				//slavesensors_request();	 slaves now send all values at once, we don't need to keep requesting
+			}
 		}
 	}