string data = "";
            string data2 = "";

            string string_master_frame, string_slave_frame, string_arena_frame;

            string conetado, bateria, tensao, altitude, roll, pitch, yaw, velx, vely, velz, estado, atual, desejado;
            string conetado2, bateria2, tensao2, altitude2, roll2, pitch2, yaw2, velx2, vely2, velz2, estado2, atual2, desejado2;

            conetado = master.sconetado;
            bateria = master.sbateria;
            tensao = master.stensao;
            altitude = master.saltitude;
            roll = master.sroll;
            pitch = master.spitch;
            yaw = master.syaw;
            velx = master.svelx;
            vely = master.svely;
            velz = master.svelz;
            estado = master.sestado;
            atual = master.satual;
            desejado = master.sdesejado;


            conetado2 = slave.sconetado;
            bateria2 = slave.sbateria;
            tensao2 = slave.stensao;
            altitude2 = slave.saltitude;
            roll2 = slave.sroll;
            pitch2 = slave.spitch;
            yaw2 = slave.syaw;
            velx2 = slave.svelx;
            vely2 = slave.svely;
            velz2 = slave.svelz;
            estado2 = slave.sestado;
            atual2 = slave.satual;
            desejado2 = slave.sdesejado;

            ImageConverter converter = new ImageConverter();

            byte[] sendBytes = (byte[])converter.ConvertTo( master.picturebox_master.Image, typeof(byte[]));
            string_master_frame = Convert.ToBase64String(sendBytes);

            byte[] sendBytes2 = (byte[])converter.ConvertTo(slave.picturebox_master.Image, typeof(byte[]));
            string_slave_frame = Convert.ToBase64String(sendBytes2);

            Bitmap arena = new Bitmap(chart1.Width, chart1.Height);
            chart1.DrawToBitmap(arena, new Rectangle(0,0,chart1.Width,chart1.Height));
            byte[] sendBytes3 = (byte[])converter.ConvertTo(arena, typeof(byte[]));
            string_arena_frame = Convert.ToBase64String(sendBytes3);


            data = conetado + "n" + bateria + "n" + tensao + "n" + altitude + "n" + roll + "n" + pitch + "n" + yaw + "n" + velx + "n" + vely + "n" + velz + "n" + estado + "n" + atual + "n" + desejado + "n" +
                       conetado2 + "n" + bateria2 + "n" + tensao2 + "n" + altitude2 + "n" + roll2 + "n" + pitch2 + "n" + yaw2 + "n" + velx2 + "n" + vely2 + "n" + velz2 + "n" + estado2 + "n" + atual2 + "n" + desejado2 + "n";

            data2 = conetado + "n" + bateria + "n" + tensao + "n" + altitude + "n" + roll + "n" + pitch + "n" + yaw + "n" + velx + "n" + vely + "n" + velz + "n" + estado + "n" + atual + "n" + desejado + "n" +
                        conetado2 + "n" + bateria2 + "n" + tensao2 + "n" + altitude2 + "n" + roll2 + "n" + pitch2 + "n" + yaw2 + "n" + velx2 + "n" + vely2 + "n" + velz2 + "n" + estado2 + "n" + atual2 + "n" + desejado2 + "n" + string_master_frame +
                        "n" + string_slave_frame + "n" + string_arena_frame + "nn";
            //data = data.Substring(0, data.Length - 2);

            tcpServer1.Send(data);

    }

Socket socket = null;

    try {
        socket = new Socket(dstAddress, dstPort);

        //Scanner r = new Scanner(new InputStreamReader(socket.getInputStream()));
        BufferedReader br = new BufferedReader(new InputStreamReader(socket.getInputStream()));
        BufferedWriter bw = new BufferedWriter(new OutputStreamWriter(socket.getOutputStream()));
        //PrintWriter bw = new PrintWriter(new BufferedWriter(new OutputStreamWriter(socket.getOutputStream())),true);
        //PrintWriter bw = new PrintWriter(socket.getOutputStream(),true);
        while (true) {

            String line;
            int i = 0;
           while((line = br.readLine()) != null) {
               if (i < valores.length) {
                   valores[i] = line;
                   Log.e("MSG", valores[i]);
                   i++;
               } else break;

           }

            publishProgress(valores[0], valores[1], valores[2], valores[3], valores[4], valores[5], valores[6], valores[7], valores[8], valores[9], valores[10], valores[11], valores[12],
                    valores[13], valores[14], valores[15], valores[16], valores[17], valores[18], valores[19], valores[20], valores[21], valores[22], valores[23], valores[24], valores[25], valores[26],
                    valores[27],valores[28]);


        }

    } catch (UnknownHostException e) {
        // TODO Auto-generated catch block
        e.printStackTrace();

    } catch (IOException e) {
        // TODO Auto-generated catch block
        e.printStackTrace();

    } finally {
        if (socket != null) {
            try {
                socket.close();
            } catch (IOException e) {
                // TODO Auto-generated catch block
                e.printStackTrace();
            }
        }
    }

    return null;

}

@Override
protected void onProgressUpdate(String... values) {
    super.onProgressUpdate(values);
    conetado.setText(values[0]);
    bateria.setText(values[1]);
    tensao.setText(values[2]);
    altitude.setText(values[3]);
    roll.setText(values[4]);
    pitch.setText(values[5]);
    yaw.setText(values[6]);
    velx.setText(values[7]);
    vely.setText(values[8]);
    velz.setText(values[9]);
    estado.setText(values[10]);
    atual.setText(values[11]);
    desejado.setText(values[12]);

    conetado2.setText(values[13]);
    bateria2.setText(values[14]);
    tensao2.setText(values[15]);
    altitude2.setText(values[16]);
    roll2.setText(values[17]);
    pitch2.setText(values[18]);
    yaw2.setText(values[19]);
    velx2.setText(values[20]);
    vely2.setText(values[21]);
    velz2.setText(values[22]);
    estado2.setText(values[23]);
    atual2.setText(values[24]);
    desejado2.setText(values[25]);

    Bitmap master_bitmap,slave_bitmap,arena_bitmap;

    byte[] decodedString = Base64.decode(values[26], Base64.NO_WRAP);
    master_bitmap = BitmapFactory.decodeByteArray(decodedString, 0, decodedString.length);
    master_frame.setImageBitmap(master_bitmap);

    byte[] decodedString2 = Base64.decode(values[27], Base64.NO_WRAP);
    slave_bitmap = BitmapFactory.decodeByteArray(decodedString2, 0, decodedString2.length);
    slave_frame.setImageBitmap(slave_bitmap);

    byte[] decodedString3 = Base64.decode(values[28], Base64.NO_WRAP);
    arena_bitmap = BitmapFactory.decodeByteArray(decodedString3, 0, decodedString3.length);
    arena_frame.setImageBitmap(arena_bitmap);
}