   Serial.print(unfiltered_gyro_angle_y, 2);
   Serial.print(F(","));
   Serial.print(unfiltered_gyro_angle_z, 2);*/
-  mySerial.println(F("&"));             //Filtered angle
-  mySerial.print(angle_x, DEC);
-  mySerial.println(F(","));
-  mySerial.print(angle_y, DEC);
-  mySerial.println(F(","));
-  mySerial.print(angle_z, DEC);
-  mySerial.println(F(""));
-  
+ int x,y,z;
+  x=(int)(angle_x);
+  y=(int)(angle_y);
+  z=(int)(angle_z);
+  String a=String(x);
+  String b=String(y);
+  String c=String(z);
+  String acc_x=String((int)accel_t_gyro.value.x_accel);
+  String acc_y=String((int)accel_t_gyro.value.y_accel);
+  String acc_z=String((int)accel_t_gyro.value.z_accel);
+
+
+  mySerial.println(F("^")); 
+  mySerial.println(acc_x);
+  mySerial.println(acc_y);
+  mySerial.println(acc_z);
+  mySerial.println(a);
+  mySerial.println(b);
+  mySerial.println(c);
   // Delay so we don't swamp the serial port
   
          // nDevices++;

    address=105;
    Wire.beginTransmission(address);
      error = Wire.endTransmission();
       mySerial.println("The error is : ");
    mySerial.println(error);
      if (error == 0)
        {
          /*Serial.print("MPU number : ");
          Serial.println(flag-5); 

    address=105;
    Wire.beginTransmission(address);
      error = Wire.endTransmission();
      /* mySerial.println("The error is : ");
    mySerial.println(error);*/
      if (error == 0)
        {
          /*Serial.print("MPU number : ");
