diff --git a/.gitignore b/.gitignore
index 92a805a..12b4e1e 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,12 +1,3 @@
 2024*.txt
 test/*
-
-serial_read/go.mod
-
-serial_read/go.sum
-
-*.exe
-
-monitor/go.sum
-
-monitor/go.mod
+*.exe
\ No newline at end of file
diff --git a/README.md b/README.md
index cc9b721..9f31de4 100644
--- a/README.md
+++ b/README.md
@@ -2,14 +2,31 @@
 
 ## Installation and compilation
 
+### Serial monitor tool
+
 ```bash
 git clone https://www.github.com/foglar/cobraV2.git
 cd cobraV2/serial_read
 
+go get "github.com/tarm/serial"
+
 # Building serial read code yourself
 go build .
 ```
 
+### Monitor tool
+
+```bash
+git clone https://www.github.com/foglar/cobraV2.git
+cd cobraV2/monitor
+
+# Installing required packages
+go get "github.com/tarm/serial"
+# go get "github.com/gopxl/pixel/v2"
+
+go build .
+```
+
 Upload sender and reciever code on the 2 arduino's
 
 ## Overview
@@ -17,6 +34,30 @@ Upload sender and reciever code on the 2 arduino's
 `reciever_module/` - folder with code for reciver which will send data to the pc
 `sender_module/` - folder with code for sender, which transmit data to the reciever and save it on the micro sd card
 `serial_read/` - read serial input and save it
+`monitor` - folder with code for monitor which will recieve data and print them into the gui application
+
+### Arduino Sender Format
+
+- sender sends data via antenna to reciever in this format **$[code of message];[value]\***
+- in future will be added some other values, like gps and so on
+
+| Identifier | Message Code | Value                            | Verificator |
+| ---------- | ------------ | -------------------------------- | ------------|
+| $          | **1**;       | temperature [degrees of Celsius] | *           |
+| $          | **2**;       | pressure                         | *           |
+| $          | **3**;       | altitude                         | *           |
+| $          | **4**;       | roll                             | *           |
+| $          | **5**;       | pitch                            | *           |
+| $          | **6**;       | yaw                              | *           |
+| $          | **7**;       | gyroscope x                      | *           |
+| $          | **8**;       | gyroscope y                      | *           |
+| $          | **9**;       | gyroscope z                      | *           |
+| $          | **10**;      | accelerometer x                  | *           |
+| $          | **11**;      | accelerometer y                  | *           |
+| $          | **12**;      | accelerometer z                  | *           |
+| $          | **13**;      | magnitude x                      | *           |
+| $          | **14**;      | magnitude y                      | *           |
+| $          | **15**;      | magnitude z                      | *           |
 
 ## Modules
 
@@ -92,6 +133,13 @@ Fix Quality:
 | MOSI   | 11~     | SPI master out  |
 | MISO   | 12      | SPI master in   |
 
+## Issues / features
+
+- data stops being transmitted after some short time
+- no gui
+- parser should be updated
+- sender code should be updated
+
 ## Sources
 
 Datasheets, documentation and sources
diff --git a/monitor/go.mod b/monitor/go.mod
new file mode 100644
index 0000000..aa0f4a6
--- /dev/null
+++ b/monitor/go.mod
@@ -0,0 +1,7 @@
+module foglar/monitor
+
+go 1.21.6
+
+require github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07
+
+require golang.org/x/sys v0.16.0 // indirect
diff --git a/monitor/go.sum b/monitor/go.sum
new file mode 100644
index 0000000..bf059e4
--- /dev/null
+++ b/monitor/go.sum
@@ -0,0 +1,4 @@
+github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07 h1:UyzmZLoiDWMRywV4DUYb9Fbt8uiOSooupjTq10vpvnU=
+github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07/go.mod h1:kDXzergiv9cbyO7IOYJZWg1U88JhDg3PB6klq9Hg2pA=
+golang.org/x/sys v0.16.0 h1:xWw16ngr6ZMtmxDyKyIgsE93KNKz5HKmMa3b8ALHidU=
+golang.org/x/sys v0.16.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=
diff --git a/monitor/main.go b/monitor/main.go
index 8565eeb..904ac1a 100644
--- a/monitor/main.go
+++ b/monitor/main.go
@@ -2,9 +2,9 @@ package main
 
 import (
 	"fmt"
+	p "foglar/monitor/parse"
 	"foglar/monitor/serial_read"
 	"log"
-	// "foglar/monitor/parse"
 )
 
 func main() {
@@ -16,11 +16,14 @@ func main() {
 
 	defer serialHandler.Close()
 
-	// Read serial data
-	data, err := serialHandler.ReadSerial()
-	if err != nil {
-		log.Fatal(err)
-	}
+	for {
+		// Read serial data
+		data, err := serialHandler.ReadSerial()
+		if err != nil {
+			log.Fatal(err)
+		}
 
-	fmt.Println("Received data:", data)
+		fmt.Println("Received data:", data)
+		fmt.Println(p.Parser(data))
+	}
 }
diff --git a/monitor/parse/parse.go b/monitor/parse/parse.go
index dbbb77a..414b1f2 100644
--- a/monitor/parse/parse.go
+++ b/monitor/parse/parse.go
@@ -1,3 +1,32 @@
 package parse
 
-func parse() {}
+import (
+	"log"
+	"strconv"
+	"strings"
+)
+
+func Parser(s string) map[int]string {
+
+	// TODO: check if line isn't comment
+	// improve reading data
+	lines := strings.Split(s, "\n")
+	data_structure := make(map[int]string)
+	for _, line := range lines {
+		// find $ and * in text and get value between them
+		startIndex := strings.Index(line, "$")
+		endIndex := strings.Index(line, "*")
+		if startIndex != -1 && endIndex != -1 {
+			value := line[startIndex+1 : endIndex]
+			data := strings.Split(strings.TrimSpace(value), ";")
+			ident, err := strconv.Atoi(strings.TrimSpace(data[0]))
+			if err != nil {
+				log.Print(err)
+			}
+			info := data[1]
+			data_structure[ident] = info
+		}
+	}
+
+	return data_structure
+}
diff --git a/sender_module/sender_module.ino b/sender_module/sender_module.ino
index 378a1cd..4f33c47 100644
--- a/sender_module/sender_module.ino
+++ b/sender_module/sender_module.ino
@@ -53,6 +53,9 @@ void loop() {
   
   char temp_str[8], pressure_str[8], altitude_str[8];
   char roll_str[8], pitch_str[8], yaw_str[8];
+  char gyro_x_str[8], gyro_y_str[8], gyro_z_str[8];
+  char accel_x_str[8], accel_y_str[8], accel_z_str[8];
+  char magn_x_str[8], magn_y_str[8], magn_z_str[8];
 
   float temperature = (s32TemperatureVal / 100);
   float pressure = (s32PressureVal / 100);
@@ -62,6 +65,18 @@ void loop() {
   float pitch = stAngles.fPitch;
   float yaw = stAngles.fYaw;
 
+  float gyro_x = stGyroRawData.s16X;
+  float gyro_y = stGyroRawData.s16Y;
+  float gyro_z = stGyroRawData.s16Z;
+
+  float accel_x = stAccelRawData.s16X;
+  float accel_y = stAccelRawData.s16Y;
+  float accel_z = stAccelRawData.s16Z;
+
+  float magn_x = stMagnRawData.s16X;
+  float magn_y = stMagnRawData.s16Y;
+  float magn_z = stMagnRawData.s16Z;
+
   dtostrf(temperature, 6, 2, temp_str);
   dtostrf(pressure, 6, 2, pressure_str);
   dtostrf(altitude, 6, 2, altitude_str);
@@ -70,6 +85,18 @@ void loop() {
   dtostrf(pitch, 6, 2, pitch_str);
   dtostrf(yaw, 6, 2, yaw_str);
 
+  dtostrf(gyro_x, 6, 2, gyro_x_str);
+  dtostrf(gyro_y, 6, 2, gyro_y_str);
+  dtostrf(gyro_z, 6, 2, gyro_z_str);
+
+  dtostrf(accel_x, 6, 2, accel_x_str);
+  dtostrf(accel_y, 6, 2, accel_y_str);
+  dtostrf(accel_z, 6, 2, accel_z_str);
+
+  dtostrf(magn_x, 6, 2, magn_x_str);
+  dtostrf(magn_y, 6, 2, magn_y_str);
+  dtostrf(magn_z, 6, 2, magn_z_str);
+
   //Serial.println(roll, pitch, yaw);
   //Serial.println(temperature, pressure, altitude);
   
@@ -81,11 +108,46 @@ void loop() {
   String croll = ("$4;"+String(roll_str)+"*");
   String cpitch = ("$5;"+String(pitch_str)+"*");
   String cyaw = ("$6;"+String(yaw_str) + "*");
+  String cgyro_x = ("$7;"+String(gyro_x_str)+"*");
+  String cgyro_y = ("$8;"+String(gyro_y_str)+"*");
+  String cgyro_z = ("$9;"+String(gyro_z_str)+"*");
+  String caccel_x = ("$10;"+String(accel_x_str)+"*");
+  String caccel_y = ("$11;"+String(accel_y_str)+"*");
+  String caccel_z = ("$12;"+String(accel_z_str)+"*");
+  String cmagn_x = ("$13;"+String(magn_x_str)+"*");
+  String cmagn_y = ("$14;"+String(magn_y_str)+"*");
+  String cmagn_z = ("$15;"+String(magn_z_str)+"*");
 
   ctemp.toCharArray(msg, sizeof(msg));
   radio.write(&msg, sizeof(msg));
   cpressure.toCharArray(msg, sizeof(msg));
   radio.write(&msg, sizeof(msg));
+  caltitude.toCharArray(msg, sizeof(msg));
+  radio.write(&msg, sizeof(msg));
+  croll.toCharArray(msg, sizeof(msg));
+  radio.write(&msg, sizeof(msg));
+  cpitch.toCharArray(msg, sizeof(msg));
+  radio.write(&msg, sizeof(msg));
+  cyaw.toCharArray(msg, sizeof(msg));
+  radio.write(&msg, sizeof(msg));
+  cgyro_x.toCharArray(msg, sizeof(msg));
+  radio.write(&msg, sizeof(msg));
+  cgyro_y.toCharArray(msg, sizeof(msg));
+  radio.write(&msg, sizeof(msg));
+  cgyro_z.toCharArray(msg, sizeof(msg));
+  radio.write(&msg, sizeof(msg));
+  caccel_x.toCharArray(msg, sizeof(msg));
+  radio.write(&msg, sizeof(msg));
+  caccel_y.toCharArray(msg, sizeof(msg));
+  radio.write(&msg, sizeof(msg));
+  caccel_z.toCharArray(msg, sizeof(msg));
+  radio.write(&msg, sizeof(msg));
+  cmagn_x.toCharArray(msg, sizeof(msg));
+  radio.write(&msg, sizeof(msg));
+  cmagn_y.toCharArray(msg, sizeof(msg));
+  radio.write(&msg, sizeof(msg));
+  cmagn_z.toCharArray(msg, sizeof(msg));
+  radio.write(&msg, sizeof(msg));
   
-  delay(200);
+  //delay(200);
 }
diff --git a/serial_read/go.mod b/serial_read/go.mod
new file mode 100644
index 0000000..442cbc8
--- /dev/null
+++ b/serial_read/go.mod
@@ -0,0 +1,10 @@
+module main
+
+go 1.21.6
+
+require github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07
+
+require (
+	github.com/mitchellh/go-homedir v1.1.0 // indirect
+	golang.org/x/sys v0.16.0 // indirect
+)
diff --git a/serial_read/go.sum b/serial_read/go.sum
new file mode 100644
index 0000000..15cdf1e
--- /dev/null
+++ b/serial_read/go.sum
@@ -0,0 +1,6 @@
+github.com/mitchellh/go-homedir v1.1.0 h1:lukF9ziXFxDFPkA1vsr5zpc1XuPDn/wFntq5mG+4E0Y=
+github.com/mitchellh/go-homedir v1.1.0/go.mod h1:SfyaCUpYCn1Vlf4IUYiD9fPX4A5wJrkLzIz1N1q0pr0=
+github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07 h1:UyzmZLoiDWMRywV4DUYb9Fbt8uiOSooupjTq10vpvnU=
+github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07/go.mod h1:kDXzergiv9cbyO7IOYJZWg1U88JhDg3PB6klq9Hg2pA=
+golang.org/x/sys v0.16.0 h1:xWw16ngr6ZMtmxDyKyIgsE93KNKz5HKmMa3b8ALHidU=
+golang.org/x/sys v0.16.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=