diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index a735dc438e..f12888b792 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -32,7 +32,7 @@ cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
 cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc', 
                                                'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
                                                'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
-                                               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+                                               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('test'):
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index 2954824fd4..7b2d23a3f9 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -19,6 +19,7 @@
 #include "tools/cabana/commands.h"
 #include "tools/cabana/streamselector.h"
 #include "tools/cabana/streams/replaystream.h"
+#include "tools/cabana/tools/findsignal.h"
 
 static MainWindow *main_win = nullptr;
 void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
@@ -142,6 +143,7 @@ void MainWindow::createActions() {
 
   QMenu *tools_menu = menuBar()->addMenu(tr("&Tools"));
   tools_menu->addAction(tr("Find &Similar Bits"), this, &MainWindow::findSimilarBits);
+  tools_menu->addAction(tr("&Find Signal"), this, &MainWindow::findSignal);
 
   QMenu *help_menu = menuBar()->addMenu(tr("&Help"));
   help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp)->setShortcuts(QKeySequence::HelpContents);
@@ -592,6 +594,12 @@ void MainWindow::findSimilarBits() {
   dlg->show();
 }
 
+void MainWindow::findSignal() {
+  FindSignalDlg *dlg = new FindSignalDlg(this);
+  QObject::connect(dlg, &FindSignalDlg::openMessage, messages_widget, &MessagesWidget::selectMessage);
+  dlg->show();
+}
+
 void MainWindow::onlineHelp() {
   if (auto help = findChild<HelpOverlay*>()) {
     help->close();
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index 0782c316bb..9db999e6c9 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -60,6 +60,7 @@ protected:
   void updateDownloadProgress(uint64_t cur, uint64_t total, bool success);
   void setOption();
   void findSimilarBits();
+  void findSignal();
   void undoStackCleanChanged(bool clean);
   void undoStackIndexChanged(int index);
   void onlineHelp();
diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc
new file mode 100644
index 0000000000..30fa5b4040
--- /dev/null
+++ b/tools/cabana/tools/findsignal.cc
@@ -0,0 +1,217 @@
+#include "tools/cabana/tools/findsignal.h"
+
+#include <QDoubleValidator>
+#include <QFormLayout>
+#include <QHBoxLayout>
+#include <QHeaderView>
+#include <QMenu>
+#include <QtConcurrent>
+#include <QTimer>
+#include <QVBoxLayout>
+
+// FindSignalModel
+
+QVariant FindSignalModel::headerData(int section, Qt::Orientation orientation, int role) const {
+  static QString titles[] = {"Id", "Start Bit, size", "(time, value)"};
+  if (role != Qt::DisplayRole) return {};
+  return orientation == Qt::Horizontal ? titles[section] : QString::number(section + 1);
+}
+
+QVariant FindSignalModel::data(const QModelIndex &index, int role) const {
+  if (role == Qt::DisplayRole) {
+    const auto &s = filtered_signals[index.row()];
+    switch (index.column()) {
+      case 0: return s.id.toString();
+      case 1: return QString("%1, %2").arg(s.sig.start_bit).arg(s.sig.size);
+      case 2: return s.values.join(" ");
+    }
+  }
+  return {};
+}
+
+void FindSignalModel::search(std::function<bool(double)> cmp) {
+  beginResetModel();
+
+  std::mutex lock;
+  const auto prev_sigs = !histories.isEmpty() ? histories.back() : initial_signals;
+  filtered_signals.clear();
+  filtered_signals.reserve(prev_sigs.size());
+  QtConcurrent::blockingMap(prev_sigs, [&](auto &s) {
+    const auto &events = can->events(s.id);
+    auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, [](uint64_t ts, auto &e) { return ts < e->mono_time; });
+    auto it = std::find_if(first, events.cend(), [&](auto e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
+    if (it != events.cend()) {
+      auto values = s.values;
+      values += QString("(%1, %2)").arg((*it)->mono_time / 1e9 - can->routeStartTime(), 0, 'f', 2).arg(get_raw_value((*it)->dat, (*it)->size, s.sig));
+      std::lock_guard lk(lock);
+      filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values});
+    }
+  });
+  histories.push_back(filtered_signals);
+
+  endResetModel();
+}
+
+void FindSignalModel::undo() {
+  if (!histories.isEmpty()) {
+    beginResetModel();
+    histories.pop_back();
+    filtered_signals.clear();
+    if (!histories.isEmpty()) filtered_signals = histories.back();
+    endResetModel();
+  }
+}
+
+void FindSignalModel::reset() {
+  beginResetModel();
+  histories.clear();
+  filtered_signals.clear();
+  initial_signals.clear();
+  endResetModel();
+}
+
+// FindSignalDlg
+FindSignalDlg::FindSignalDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags() | Qt::Window) {
+  setWindowTitle(tr("Find Signal"));
+  setAttribute(Qt::WA_DeleteOnClose);
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+
+  properties_group = new QGroupBox(tr("Signal Properties"));
+  QFormLayout *property_layout = new QFormLayout(properties_group);
+  property_layout->setFieldGrowthPolicy(QFormLayout::FieldsStayAtSizeHint);
+
+  QHBoxLayout *hlayout = new QHBoxLayout();
+  hlayout->addWidget(min_size = new QSpinBox);
+  hlayout->addWidget(new QLabel("-"));
+  hlayout->addWidget(max_size = new QSpinBox);
+  hlayout->addWidget(litter_endian = new QCheckBox(tr("Little endian")));
+  hlayout->addWidget(is_signed = new QCheckBox(tr("Signed")));
+  hlayout->addStretch(0);
+  min_size->setRange(1, 64);
+  max_size->setRange(1, 64);
+  litter_endian->setChecked(true);
+  property_layout->addRow(tr("Size"), hlayout);
+  property_layout->addRow(tr("Factor"), factor_edit = new QLineEdit("1.0"));
+  property_layout->addRow(tr("Offset"), offset_edit = new QLineEdit("0.0"));
+
+  QGroupBox *find_group = new QGroupBox(tr("Find signal"), this);
+  QVBoxLayout *vlayout = new QVBoxLayout(find_group);
+  hlayout = new QHBoxLayout();
+  hlayout->addWidget(new QLabel(tr("Value")));
+  hlayout->addWidget(compare_cb = new QComboBox(this));
+  hlayout->addWidget(value1 = new QLineEdit);
+  hlayout->addWidget(to_label = new QLabel("-"));
+  hlayout->addWidget(value2 = new QLineEdit);
+  hlayout->addWidget(undo_btn = new QPushButton(tr("Undo prev find"), this));
+  hlayout->addWidget(search_btn = new QPushButton(tr("Find")));
+  hlayout->addWidget(reset_btn = new QPushButton(tr("Reset"), this));
+  vlayout->addLayout(hlayout);
+
+  compare_cb->addItems({"=", ">", ">=", "!=", "<", "<=", "between"});
+  value2->setVisible(false);
+  to_label->setVisible(false);
+  undo_btn->setEnabled(false);
+  reset_btn->setEnabled(false);
+
+  auto double_validator = new QDoubleValidator(this);
+  double_validator->setLocale(QLocale::C);
+  for (auto edit : {value1, value2, factor_edit, offset_edit}) {
+    edit->setValidator(double_validator);
+  }
+
+  vlayout->addWidget(view = new QTableView(this));
+  vlayout->addWidget(stats_label = new QLabel());
+  view->setContextMenuPolicy(Qt::CustomContextMenu);
+  view->horizontalHeader()->setStretchLastSection(true);
+  view->horizontalHeader()->setSelectionMode(QAbstractItemView::NoSelection);
+  view->setSelectionBehavior(QAbstractItemView::SelectRows);
+  view->setModel(model = new FindSignalModel(this));
+
+  main_layout->addWidget(properties_group);
+  main_layout->addWidget(find_group);
+
+  setMinimumSize({700, 550});
+  QObject::connect(search_btn, &QPushButton::clicked, this, &FindSignalDlg::search);
+  QObject::connect(undo_btn, &QPushButton::clicked, model, &FindSignalModel::undo);
+  QObject::connect(model, &QAbstractItemModel::modelReset, this, &FindSignalDlg::modelReset);
+  QObject::connect(reset_btn, &QPushButton::clicked, model, &FindSignalModel::reset);
+  QObject::connect(view, &QTableView::customContextMenuRequested, this, &FindSignalDlg::customMenuRequested);
+  QObject::connect(view, &QTableView::doubleClicked, [this](const QModelIndex &index) {
+    if (index.isValid()) emit openMessage(model->filtered_signals[index.row()].id);
+  });
+  QObject::connect(compare_cb, qOverload<int>(&QComboBox::currentIndexChanged), [=](int index) {
+    to_label->setVisible(index == compare_cb->count() - 1);
+    value2->setVisible(index == compare_cb->count() - 1);
+  });
+}
+
+void FindSignalDlg::search() {
+  if (model->histories.isEmpty()) {
+    setInitialSignals();
+  }
+  auto v1 = value1->text().toDouble();
+  auto v2 = value2->text().toDouble();
+  std::function<bool(double)> cmp = nullptr;
+  switch (compare_cb->currentIndex()) {
+    case 0: cmp = [v1](double v) { return v == v1;}; break;
+    case 1: cmp = [v1](double v) { return v > v1;};break;
+    case 2: cmp = [v1](double v) { return v >= v1;};break;
+    case 3: cmp = [v1](double v) { return v != v1;}; break;
+    case 4: cmp = [v1](double v) { return v < v1;}; break;
+    case 5: cmp = [v1](double v) { return v <= v1;}; break;
+    case 6: cmp = [v1, v2](double v) { return v >= v1 && v <= v2;}; break;
+  }
+  properties_group->setEnabled(false);
+  search_btn->setEnabled(false);
+  stats_label->setVisible(false);
+  search_btn->setText("Finding ....");
+  QTimer::singleShot(0, [=]() { model->search(cmp); });
+}
+
+void FindSignalDlg::setInitialSignals() {
+  cabana::Signal sig{};
+  sig.is_little_endian = litter_endian->isChecked();
+  sig.is_signed = is_signed->isChecked();
+  sig.factor = factor_edit->text().toDouble();
+  sig.offset = offset_edit->text().toDouble();
+
+  model->initial_signals.clear();
+  for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
+    const int total_size = it.value().dat.size() * 8;
+    for (int size = min_size->value(); size <= max_size->value(); ++size) {
+      for (int start = 0; start <= total_size - size; ++start) {
+        FindSignalModel::SearchSignal s{.id = it.key(), .mono_time = 0, .sig = sig};
+        updateSigSizeParamsFromRange(s.sig, start, size);
+        model->initial_signals.push_back(s);
+      }
+    }
+  }
+}
+
+void FindSignalDlg::modelReset() {
+  properties_group->setEnabled(model->histories.isEmpty());
+  search_btn->setText(model->histories.isEmpty() ? tr("Find") : tr("Find Next"));
+  reset_btn->setEnabled(!model->histories.isEmpty());
+  undo_btn->setEnabled(model->histories.size() > 1);
+  search_btn->setEnabled(model->rowCount() > 0 || model->histories.isEmpty());
+  stats_label->setVisible(true);
+  stats_label->setText(tr("%1 matches. right click on an item to create signal. double click to open message").arg(model->filtered_signals.size()));
+}
+
+void FindSignalDlg::customMenuRequested(const QPoint &pos) {
+  if (auto index = view->indexAt(pos); index.isValid()) {
+    QMenu menu(this);
+    menu.addAction(tr("Create Signal"));
+    if (menu.exec(view->mapToGlobal(pos))) {
+      auto &s = model->filtered_signals[index.row()];
+      auto msg = dbc()->msg(s.id);
+      if (!msg) {
+        UndoStack::push(new EditMsgCommand(s.id, dbc()->newMsgName(s.id), can->lastMessage(s.id).dat.size()));
+        msg = dbc()->msg(s.id);
+      }
+      s.sig.name = dbc()->newSignalName(s.id);
+      UndoStack::push(new AddSigCommand(s.id, s.sig));
+      emit openMessage(s.id);
+    }
+  }
+}
diff --git a/tools/cabana/tools/findsignal.h b/tools/cabana/tools/findsignal.h
new file mode 100644
index 0000000000..217abd82dc
--- /dev/null
+++ b/tools/cabana/tools/findsignal.h
@@ -0,0 +1,57 @@
+#pragma once
+
+#include <QAbstractTableModel>
+#include <QLabel>
+#include <QPushButton>
+#include <QTableView>
+
+#include "tools/cabana/commands.h"
+#include "tools/cabana/settings.h"
+
+class FindSignalModel : public QAbstractTableModel {
+public:
+  struct SearchSignal {
+    MessageId id = {};
+    uint64_t mono_time = 0;
+    cabana::Signal sig = {};
+    QStringList values;
+  };
+
+  FindSignalModel(QObject *parent) : QAbstractTableModel(parent) {}
+  QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
+  QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
+  int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 3; }
+  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return std::min(filtered_signals.size(), 200); }
+  void search(std::function<bool(double)> cmp);
+  void reset();
+  void undo();
+
+  QList<SearchSignal> filtered_signals;
+  QList<SearchSignal> initial_signals;
+  QList<QList<SearchSignal>> histories;
+};
+
+class FindSignalDlg : public QDialog {
+  Q_OBJECT
+public:
+  FindSignalDlg(QWidget *parent);
+
+signals:
+  void openMessage(const MessageId &id);
+
+private:
+  void search();
+  void modelReset();
+  void setInitialSignals();
+  void customMenuRequested(const QPoint &pos);
+
+  QLineEdit *value1, *value2, *factor_edit, *offset_edit;
+  QComboBox *compare_cb;
+  QSpinBox *min_size, *max_size;
+  QCheckBox *litter_endian, *is_signed;
+  QPushButton *search_btn, *reset_btn, *undo_btn;
+  QGroupBox *properties_group;
+  QTableView *view;
+  QLabel *to_label, *stats_label;
+  FindSignalModel *model;
+};