altosui: Move java altoslib to top level

This will be shared with other (android) java code.

Signed-off-by: Keith Packard <keithp@keithp.com>

38 files changed, 5368 insertions, 0 deletions

diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosCRCException.java b/altoslib/src/org/altusmetrum/AltosLib/AltosCRCException.java
new file mode 100644
index 00000000..101c5363
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosCRCException.java
@@ -0,0 +1,26 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+public class AltosCRCException extends Exception {
+	public int rssi;
+
+	public AltosCRCException (int in_rssi) {
+		rssi = in_rssi;
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosConfigData.java b/altoslib/src/org/altusmetrum/AltosLib/AltosConfigData.java
new file mode 100644
index 00000000..4ad4e58a
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosConfigData.java
@@ -0,0 +1,184 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.*;
+import org.altusmetrum.AltosLib.*;
+
+public class AltosConfigData implements Iterable<String> {
+
+	/* Version information */
+	public String	manufacturer;
+	public String	product;
+	public String	version;
+	public int	log_format;
+	public int	serial;
+
+	/* Strings returned */
+	public LinkedList<String>	lines;
+
+	/* Config information */
+	public int	config_major;
+	public int	config_minor;
+	public int	main_deploy;
+	public int	apogee_delay;
+	public int	radio_channel;
+	public int	radio_setting;
+	public int	radio_frequency;
+	public String	callsign;
+	public int	accel_cal_plus, accel_cal_minus;
+	public int	radio_calibration;
+	public int	flight_log_max;
+	public int	ignite_mode;
+	public int	stored_flight;
+	public int	storage_size;
+	public int	storage_erase_unit;
+
+	public static String get_string(String line, String label) throws  ParseException {
+		if (line.startsWith(label)) {
+			String	quoted = line.substring(label.length()).trim();
+
+			if (quoted.startsWith("\""))
+				quoted = quoted.substring(1);
+			if (quoted.endsWith("\""))
+				quoted = quoted.substring(0,quoted.length()-1);
+			return quoted;
+		}
+		throw new ParseException("mismatch", 0);
+	}
+
+	public static int get_int(String line, String label) throws NumberFormatException, ParseException {
+		if (line.startsWith(label)) {
+			String tail = line.substring(label.length()).trim();
+			String[] tokens = tail.split("\\s+");
+			if (tokens.length > 0)
+				return  Integer.parseInt(tokens[0]);
+		}
+		throw new ParseException("mismatch", 0);
+	}
+
+	public Iterator<String> iterator() {
+		return lines.iterator();
+	}
+
+	public int log_available() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TINY:
+			if (stored_flight == 0)
+				return 1;
+			return 0;
+		default:
+			if (flight_log_max <= 0)
+				return 1;
+			int	log_space = storage_size - storage_erase_unit;
+			int	log_used = stored_flight * flight_log_max;
+
+			if (log_used >= log_space)
+				return 0;
+			return (log_space - log_used) / flight_log_max;
+		}
+	}
+
+	int[] parse_version(String v) {
+		String[] parts = v.split("\\.");
+		int r[] = new int[parts.length];
+
+		for (int i = 0; i < parts.length; i++) {
+			try {
+				r[i] = Altos.fromdec(parts[i]);
+			} catch (NumberFormatException n) {
+				r[i] = 0;
+			}
+		}
+
+		return r;
+	}
+	
+	public int compare_version(String other) {
+		int[]	me = parse_version(version);
+		int[]	them = parse_version(other);
+
+		int	l = Math.min(me.length, them.length);
+
+		for (int i = 0; i < l; i++) {
+			int	d = me[i] - them[i];
+			if (d != 0)
+				return d;
+		}
+		if (me.length > l)
+			return 1;
+		if (them.length > l)
+			return -1;
+		return 0;
+	}
+
+	public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
+		link.printf("c s\np\nf\nl\nv\n");
+		lines = new LinkedList<String>();
+		radio_setting = 0;
+		radio_frequency = 0;
+		stored_flight = 0;
+		for (;;) {
+			String line = link.get_reply();
+			if (line == null)
+				throw new TimeoutException();
+			if (line.contains("Syntax error"))
+				continue;
+			lines.add(line);
+			try { serial = get_int(line, "serial-number"); } catch (Exception e) {}
+			try { log_format = get_int(line, "log-format"); } catch (Exception e) {}
+			try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
+			try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
+			try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
+			try { radio_setting = get_int(line, "Radio setting:"); } catch (Exception e) {}
+			try {
+				radio_frequency = get_int(line, "Frequency:");
+				if (radio_frequency < 0)
+					radio_frequency = 434550;
+			} catch (Exception e) {}
+			try {
+				if (line.startsWith("Accel cal")) {
+					String[] bits = line.split("\\s+");
+					if (bits.length >= 6) {
+						accel_cal_plus = Integer.parseInt(bits[3]);
+						accel_cal_minus = Integer.parseInt(bits[5]);
+					}
+				}
+			} catch (Exception e) {}
+			try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
+			try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {}
+			try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {}
+			try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
+			try { version = get_string(line,"software-version"); } catch (Exception e) {}
+			try { product = get_string(line,"product"); } catch (Exception e) {}
+
+			try { get_int(line, "flight"); stored_flight++; }  catch (Exception e) {}
+			try { storage_size = get_int(line, "Storage size:"); } catch (Exception e) {}
+			try { storage_erase_unit = get_int(line, "Storage erase unit"); } catch (Exception e) {}
+
+			/* signals the end of the version info */
+			if (line.startsWith("software-version"))
+				break;
+		}
+	}
+
+}
\ No newline at end of file
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosConvert.java b/altoslib/src/org/altusmetrum/AltosLib/AltosConvert.java
new file mode 100644
index 00000000..3527b575
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosConvert.java
@@ -0,0 +1,259 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+/*
+ * Sensor data conversion functions
+ */
+package org.altusmetrum.AltosLib;
+
+public class AltosConvert {
+	/*
+	 * Pressure Sensor Model, version 1.1
+	 *
+	 * written by Holly Grimes
+	 *
+	 * Uses the International Standard Atmosphere as described in
+	 *   "A Quick Derivation relating altitude to air pressure" (version 1.03)
+	 *    from the Portland State Aerospace Society, except that the atmosphere
+	 *    is divided into layers with each layer having a different lapse rate.
+	 *
+	 * Lapse rate data for each layer was obtained from Wikipedia on Sept. 1, 2007
+	 *    at site <http://en.wikipedia.org/wiki/International_Standard_Atmosphere
+	 *
+	 * Height measurements use the local tangent plane.  The postive z-direction is up.
+	 *
+	 * All measurements are given in SI units (Kelvin, Pascal, meter, meters/second^2).
+	 *   The lapse rate is given in Kelvin/meter, the gas constant for air is given
+	 *   in Joules/(kilogram-Kelvin).
+	 */
+
+	public static final double GRAVITATIONAL_ACCELERATION = -9.80665;
+	public static final double AIR_GAS_CONSTANT		= 287.053;
+	public static final double NUMBER_OF_LAYERS		= 7;
+	public static final double MAXIMUM_ALTITUDE		= 84852.0;
+	public static final double MINIMUM_PRESSURE		= 0.3734;
+	public static final double LAYER0_BASE_TEMPERATURE	= 288.15;
+	public static final double LAYER0_BASE_PRESSURE	= 101325;
+
+	/* lapse rate and base altitude for each layer in the atmosphere */
+	public static final double[] lapse_rate = {
+		-0.0065, 0.0, 0.001, 0.0028, 0.0, -0.0028, -0.002
+	};
+
+	public static final int[] base_altitude = {
+		0, 11000, 20000, 32000, 47000, 51000, 71000
+	};
+
+	/* outputs atmospheric pressure associated with the given altitude.
+	 * altitudes are measured with respect to the mean sea level
+	 */
+	public static double
+	altitude_to_pressure(double altitude)
+	{
+		double base_temperature = LAYER0_BASE_TEMPERATURE;
+		double base_pressure = LAYER0_BASE_PRESSURE;
+
+		double pressure;
+		double base; /* base for function to determine pressure */
+		double exponent; /* exponent for function to determine pressure */
+		int layer_number; /* identifies layer in the atmosphere */
+		double delta_z; /* difference between two altitudes */
+
+		if (altitude > MAXIMUM_ALTITUDE) /* FIX ME: use sensor data to improve model */
+			return 0;
+
+		/* calculate the base temperature and pressure for the atmospheric layer
+		   associated with the inputted altitude */
+		for(layer_number = 0; layer_number < NUMBER_OF_LAYERS - 1 && altitude > base_altitude[layer_number + 1]; layer_number++) {
+			delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number];
+			if (lapse_rate[layer_number] == 0.0) {
+				exponent = GRAVITATIONAL_ACCELERATION * delta_z
+					/ AIR_GAS_CONSTANT / base_temperature;
+				base_pressure *= Math.exp(exponent);
+			}
+			else {
+				base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+				exponent = GRAVITATIONAL_ACCELERATION /
+					(AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+				base_pressure *= Math.pow(base, exponent);
+			}
+			base_temperature += delta_z * lapse_rate[layer_number];
+		}
+
+		/* calculate the pressure at the inputted altitude */
+		delta_z = altitude - base_altitude[layer_number];
+		if (lapse_rate[layer_number] == 0.0) {
+			exponent = GRAVITATIONAL_ACCELERATION * delta_z
+				/ AIR_GAS_CONSTANT / base_temperature;
+			pressure = base_pressure * Math.exp(exponent);
+		}
+		else {
+			base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+			exponent = GRAVITATIONAL_ACCELERATION /
+				(AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+			pressure = base_pressure * Math.pow(base, exponent);
+		}
+
+		return pressure;
+	}
+
+
+/* outputs the altitude associated with the given pressure. the altitude
+   returned is measured with respect to the mean sea level */
+	public static double
+	pressure_to_altitude(double pressure)
+	{
+
+		double next_base_temperature = LAYER0_BASE_TEMPERATURE;
+		double next_base_pressure = LAYER0_BASE_PRESSURE;
+
+		double altitude;
+		double base_pressure;
+		double base_temperature;
+		double base; /* base for function to determine base pressure of next layer */
+		double exponent; /* exponent for function to determine base pressure
+				    of next layer */
+		double coefficient;
+		int layer_number; /* identifies layer in the atmosphere */
+		int delta_z; /* difference between two altitudes */
+
+		if (pressure < 0)  /* illegal pressure */
+			return -1;
+		if (pressure < MINIMUM_PRESSURE) /* FIX ME: use sensor data to improve model */
+			return MAXIMUM_ALTITUDE;
+
+		/* calculate the base temperature and pressure for the atmospheric layer
+		   associated with the inputted pressure. */
+		layer_number = -1;
+		do {
+			layer_number++;
+			base_pressure = next_base_pressure;
+			base_temperature = next_base_temperature;
+			delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number];
+			if (lapse_rate[layer_number] == 0.0) {
+				exponent = GRAVITATIONAL_ACCELERATION * delta_z
+					/ AIR_GAS_CONSTANT / base_temperature;
+				next_base_pressure *= Math.exp(exponent);
+			}
+			else {
+				base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+				exponent = GRAVITATIONAL_ACCELERATION /
+					(AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+				next_base_pressure *= Math.pow(base, exponent);
+			}
+			next_base_temperature += delta_z * lapse_rate[layer_number];
+		}
+		while(layer_number < NUMBER_OF_LAYERS - 1 && pressure < next_base_pressure);
+
+		/* calculate the altitude associated with the inputted pressure */
+		if (lapse_rate[layer_number] == 0.0) {
+			coefficient = (AIR_GAS_CONSTANT / GRAVITATIONAL_ACCELERATION)
+				* base_temperature;
+			altitude = base_altitude[layer_number]
+				+ coefficient * Math.log(pressure / base_pressure);
+		}
+		else {
+			base = pressure / base_pressure;
+			exponent = AIR_GAS_CONSTANT * lapse_rate[layer_number]
+				/ GRAVITATIONAL_ACCELERATION;
+			coefficient = base_temperature / lapse_rate[layer_number];
+			altitude = base_altitude[layer_number]
+				+ coefficient * (Math.pow(base, exponent) - 1);
+		}
+
+		return altitude;
+	}
+
+	public static double
+	cc_battery_to_voltage(double battery)
+	{
+		return battery / 32767.0 * 5.0;
+	}
+
+	public static double
+	cc_ignitor_to_voltage(double ignite)
+	{
+		return ignite / 32767 * 15.0;
+	}
+
+	public static double radio_to_frequency(int freq, int setting, int cal, int channel) {
+		double	f;
+
+		if (freq > 0)
+			f = freq / 1000.0;
+		else {
+			if (setting <= 0)
+				setting = cal;
+			f = 434.550 * setting / cal;
+			/* Round to nearest 50KHz */
+			f = Math.floor (20.0 * f + 0.5) / 20.0;
+		}
+		return f + channel * 0.100;
+	}
+
+	public static int radio_frequency_to_setting(double frequency, int cal) {
+		double	set = frequency / 434.550 * cal;
+
+		return (int) Math.floor (set + 0.5);
+	}
+
+	public static int radio_frequency_to_channel(double frequency) {
+		int	channel = (int) Math.floor ((frequency - 434.550) / 0.100 + 0.5);
+
+		if (channel < 0)
+			channel = 0;
+		if (channel > 9)
+			channel = 9;
+		return channel;
+	}
+
+	public static double radio_channel_to_frequency(int channel) {
+		return 434.550 + channel * 0.100;
+	}
+
+	public static int[] ParseHex(String line) {
+		String[] tokens = line.split("\\s+");
+		int[] array = new int[tokens.length];
+
+		for (int i = 0; i < tokens.length; i++)
+			try {
+				array[i] = Integer.parseInt(tokens[i], 16);
+			} catch (NumberFormatException ne) {
+				return null;
+			}
+		return array;
+	}
+
+	public static double meters_to_feet(double meters) {
+		return meters * (100 / (2.54 * 12));
+	}
+
+	public static double meters_to_mach(double meters) {
+		return meters / 343;		/* something close to mach at usual rocket sites */
+	}
+
+	public static double meters_to_g(double meters) {
+		return meters / 9.80665;
+	}
+
+	public static int checksum(int[] data, int start, int length) {
+		int	csum = 0x5a;
+		for (int i = 0; i < length; i++)
+			csum += data[i + start];
+		return csum & 0xff;
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosEepromChunk.java b/altoslib/src/org/altusmetrum/AltosLib/AltosEepromChunk.java
new file mode 100644
index 00000000..6d889723
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosEepromChunk.java
@@ -0,0 +1,102 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.concurrent.*;
+
+public class AltosEepromChunk {
+
+	public static final int	chunk_size = 256;
+	public static final int	per_line = 8;
+
+	public int		data[];
+	public int		address;
+	public ParseException	parse_exception = null;
+
+	int[] ParseHex(String line) {
+		String[] tokens = line.split("\\s+");
+		int[] array = new int[tokens.length];
+
+		for (int i = 0; i < tokens.length; i++)
+			try {
+				array[i] = Integer.parseInt(tokens[i], 16);
+			} catch (NumberFormatException ne) {
+				return null;
+			}
+		return array;
+	}
+
+	public int data(int offset) {
+		return data[offset];
+	}
+
+	public int data16(int offset) {
+		return data[offset] | (data[offset + 1] << 8);
+	}
+
+	public int data32(int offset) {
+		return data[offset] | (data[offset + 1] << 8) |
+			(data[offset+2] << 16) | (data[offset+3] << 24);
+	}
+
+	public boolean erased(int start, int len) {
+		for (int i = 0; i < len; i++)
+			if (data[start+i] != 0xff)
+				return false;
+		return true;
+	}
+
+	public AltosEepromChunk(AltosLink link, int block, boolean flush)
+		throws TimeoutException, InterruptedException {
+
+		int	offset;
+
+		data = new int[chunk_size];
+		address = block * chunk_size;
+		if (flush)
+			link.flush_input();
+		link.printf("e %x\n", block);
+
+		for (offset = 0; offset < chunk_size; offset += per_line) {
+			try {
+				String	line = link.get_reply(5000);
+
+				if (line == null)
+					throw new TimeoutException();
+
+				int[] values = ParseHex(line);
+
+				if (values == null || values.length != per_line + 1)
+					throw new ParseException(String.format("invalid line %s", line), 0);
+				if (values[0] != offset)
+					throw new ParseException(String.format("data address out of sync at 0x%x",
+									       address + offset), 0);
+				for (int i = 0; i < per_line; i++)
+					data[offset + i] = values[1 + i];
+			} catch (ParseException pe) {
+				for (int i = 0; i < per_line; i++)
+					data[offset + i] = 0xff;
+				if (parse_exception == null)
+					parse_exception = pe;
+			}
+		}
+	}
+}
\ No newline at end of file
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosEepromIterable.java b/altoslib/src/org/altusmetrum/AltosLib/AltosEepromIterable.java
new file mode 100644
index 00000000..f1397c7b
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosEepromIterable.java
@@ -0,0 +1,475 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+/*
+ * AltosRecords with an index field so they can be sorted by tick while preserving
+ * the original ordering for elements with matching ticks
+ */
+class AltosOrderedRecord extends AltosEepromRecord implements Comparable<AltosOrderedRecord> {
+
+	public int	index;
+
+	public AltosOrderedRecord(String line, int in_index, int prev_tick, boolean prev_tick_valid)
+		throws ParseException {
+		super(line);
+		if (prev_tick_valid) {
+			tick |= (prev_tick & ~0xffff);
+			if (tick < prev_tick) {
+				if (prev_tick - tick > 0x8000)
+					tick += 0x10000;
+			} else {
+				if (tick - prev_tick > 0x8000)
+					tick -= 0x10000;
+			}
+		}
+		index = in_index;
+	}
+
+	public AltosOrderedRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
+		super(in_cmd, in_tick, in_a, in_b);
+		index = in_index;
+	}
+
+	public String toString() {
+		return String.format("%d.%d %04x %04x %04x",
+				     cmd, index, tick, a, b);
+	}
+
+	public int compareTo(AltosOrderedRecord o) {
+		int	tick_diff = tick - o.tick;
+		if (tick_diff != 0)
+			return tick_diff;
+		return index - o.index;
+	}
+}
+
+public class AltosEepromIterable extends AltosRecordIterable {
+
+	static final int	seen_flight = 1;
+	static final int	seen_sensor = 2;
+	static final int	seen_temp_volt = 4;
+	static final int	seen_deploy = 8;
+	static final int	seen_gps_time = 16;
+	static final int	seen_gps_lat = 32;
+	static final int	seen_gps_lon = 64;
+
+	static final int	seen_basic = seen_flight|seen_sensor;
+
+	boolean			has_accel;
+	boolean			has_gps;
+	boolean			has_ignite;
+
+	AltosEepromRecord	flight_record;
+	AltosEepromRecord	gps_date_record;
+
+	TreeSet<AltosOrderedRecord>	records;
+
+	LinkedList<AltosRecord>	list;
+
+	class EepromState {
+		int	seen;
+		int	n_pad_samples;
+		double	ground_pres;
+		int	gps_tick;
+		int	boost_tick;
+		int	sensor_tick;
+
+		EepromState() {
+			seen = 0;
+			n_pad_samples = 0;
+			ground_pres = 0.0;
+			gps_tick = 0;
+		}
+	}
+
+	void update_state(AltosRecord state, AltosEepromRecord record, EepromState eeprom) {
+		state.tick = record.tick;
+		switch (record.cmd) {
+		case AltosLib.AO_LOG_FLIGHT:
+			eeprom.seen |= seen_flight;
+			state.ground_accel = record.a;
+			state.flight_accel = record.a;
+			state.flight = record.b;
+			eeprom.boost_tick = record.tick;
+			break;
+		case AltosLib.AO_LOG_SENSOR:
+			state.accel = record.a;
+			state.pres = record.b;
+			if (state.state < AltosLib.ao_flight_boost) {
+				eeprom.n_pad_samples++;
+				eeprom.ground_pres += state.pres;
+				state.ground_pres = (int) (eeprom.ground_pres / eeprom.n_pad_samples);
+				state.flight_pres = state.ground_pres;
+			} else {
+				state.flight_pres = (state.flight_pres * 15 + state.pres) / 16;
+			}
+			state.flight_accel = (state.flight_accel * 15 + state.accel) / 16;
+			if ((eeprom.seen & seen_sensor) == 0)
+				eeprom.sensor_tick = record.tick - 1;
+			state.flight_vel += (state.accel_plus_g - state.accel) * (record.tick - eeprom.sensor_tick);
+			eeprom.seen |= seen_sensor;
+			eeprom.sensor_tick = record.tick;
+			has_accel = true;
+			break;
+		case AltosLib.AO_LOG_PRESSURE:
+			state.pres = record.b;
+			state.flight_pres = state.pres;
+			if (eeprom.n_pad_samples == 0) {
+				eeprom.n_pad_samples++;
+				state.ground_pres = state.pres;
+			}
+			eeprom.seen |= seen_sensor;
+			break;
+		case AltosLib.AO_LOG_TEMP_VOLT:
+			state.temp = record.a;
+			state.batt = record.b;
+			eeprom.seen |= seen_temp_volt;
+			break;
+		case AltosLib.AO_LOG_DEPLOY:
+			state.drogue = record.a;
+			state.main = record.b;
+			eeprom.seen |= seen_deploy;
+			has_ignite = true;
+			break;
+		case AltosLib.AO_LOG_STATE:
+			state.state = record.a;
+			break;
+		case AltosLib.AO_LOG_GPS_TIME:
+			eeprom.gps_tick = state.tick;
+			AltosGPS old = state.gps;
+			state.gps = new AltosGPS();
+
+			/* GPS date doesn't get repeated through the file */
+			if (old != null) {
+				state.gps.year = old.year;
+				state.gps.month = old.month;
+				state.gps.day = old.day;
+			}
+			state.gps.hour = (record.a & 0xff);
+			state.gps.minute = (record.a >> 8);
+			state.gps.second = (record.b & 0xff);
+
+			int flags = (record.b >> 8);
+			state.gps.connected = (flags & AltosLib.AO_GPS_RUNNING) != 0;
+			state.gps.locked = (flags & AltosLib.AO_GPS_VALID) != 0;
+			state.gps.nsat = (flags & AltosLib.AO_GPS_NUM_SAT_MASK) >>
+				AltosLib.AO_GPS_NUM_SAT_SHIFT;
+			state.new_gps = true;
+			has_gps = true;
+			break;
+		case AltosLib.AO_LOG_GPS_LAT:
+			int lat32 = record.a | (record.b << 16);
+			state.gps.lat = (double) lat32 / 1e7;
+			break;
+		case AltosLib.AO_LOG_GPS_LON:
+			int lon32 = record.a | (record.b << 16);
+			state.gps.lon = (double) lon32 / 1e7;
+			break;
+		case AltosLib.AO_LOG_GPS_ALT:
+			state.gps.alt = record.a;
+			break;
+		case AltosLib.AO_LOG_GPS_SAT:
+			if (state.tick == eeprom.gps_tick) {
+				int svid = record.a;
+				int c_n0 = record.b >> 8;
+				state.gps.add_sat(svid, c_n0);
+			}
+			break;
+		case AltosLib.AO_LOG_GPS_DATE:
+			state.gps.year = (record.a & 0xff) + 2000;
+			state.gps.month = record.a >> 8;
+			state.gps.day = record.b & 0xff;
+			break;
+
+		case AltosLib.AO_LOG_CONFIG_VERSION:
+			break;
+		case AltosLib.AO_LOG_MAIN_DEPLOY:
+			break;
+		case AltosLib.AO_LOG_APOGEE_DELAY:
+			break;
+		case AltosLib.AO_LOG_RADIO_CHANNEL:
+			break;
+		case AltosLib.AO_LOG_CALLSIGN:
+			state.callsign = record.data;
+			break;
+		case AltosLib.AO_LOG_ACCEL_CAL:
+			state.accel_plus_g = record.a;
+			state.accel_minus_g = record.b;
+			break;
+		case AltosLib.AO_LOG_RADIO_CAL:
+			break;
+		case AltosLib.AO_LOG_MANUFACTURER:
+			break;
+		case AltosLib.AO_LOG_PRODUCT:
+			break;
+		case AltosLib.AO_LOG_SERIAL_NUMBER:
+			state.serial = record.a;
+			break;
+		case AltosLib.AO_LOG_SOFTWARE_VERSION:
+			break;
+		}
+		state.seen |= eeprom.seen;
+	}
+
+	LinkedList<AltosRecord> make_list() {
+		LinkedList<AltosRecord>		list = new LinkedList<AltosRecord>();
+		Iterator<AltosOrderedRecord>	iterator = records.iterator();
+		AltosOrderedRecord		record = null;
+		AltosRecord			state = new AltosRecord();
+		boolean				last_reported = false;
+		EepromState			eeprom = new EepromState();
+
+		state.state = AltosLib.ao_flight_pad;
+		state.accel_plus_g = 15758;
+		state.accel_minus_g = 16294;
+
+		/* Pull in static data from the flight and gps_date records */
+		if (flight_record != null)
+			update_state(state, flight_record, eeprom);
+		if (gps_date_record != null)
+			update_state(state, gps_date_record, eeprom);
+
+		while (iterator.hasNext()) {
+			record = iterator.next();
+			if ((eeprom.seen & seen_basic) == seen_basic && record.tick != state.tick) {
+				AltosRecord r = new AltosRecord(state);
+				r.time = (r.tick - eeprom.boost_tick) / 100.0;
+				list.add(r);
+			}
+			update_state(state, record, eeprom);
+		}
+		AltosRecord r = new AltosRecord(state);
+		r.time = (r.tick - eeprom.boost_tick) / 100.0;
+		list.add(r);
+	return list;
+	}
+
+	public Iterator<AltosRecord> iterator() {
+		if (list == null)
+			list = make_list();
+		return list.iterator();
+	}
+
+	public boolean has_gps() { return has_gps; }
+	public boolean has_accel() { return has_accel; }
+	public boolean has_ignite() { return has_ignite; }
+
+	public void write_comments(PrintStream out) {
+		Iterator<AltosOrderedRecord>	iterator = records.iterator();
+		out.printf("# Comments\n");
+		while (iterator.hasNext()) {
+			AltosOrderedRecord	record = iterator.next();
+			switch (record.cmd) {
+			case AltosLib.AO_LOG_CONFIG_VERSION:
+				out.printf("# Config version: %s\n", record.data);
+				break;
+			case AltosLib.AO_LOG_MAIN_DEPLOY:
+				out.printf("# Main deploy: %s\n", record.a);
+				break;
+			case AltosLib.AO_LOG_APOGEE_DELAY:
+				out.printf("# Apogee delay: %s\n", record.a);
+				break;
+			case AltosLib.AO_LOG_RADIO_CHANNEL:
+				out.printf("# Radio channel: %s\n", record.a);
+				break;
+			case AltosLib.AO_LOG_CALLSIGN:
+				out.printf("# Callsign: %s\n", record.data);
+				break;
+			case AltosLib.AO_LOG_ACCEL_CAL:
+				out.printf ("# Accel cal: %d %d\n", record.a, record.b);
+				break;
+			case AltosLib.AO_LOG_RADIO_CAL:
+				out.printf ("# Radio cal: %d\n", record.a);
+				break;
+			case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
+				out.printf ("# Max flight log: %d\n", record.a);
+				break;
+			case AltosLib.AO_LOG_MANUFACTURER:
+				out.printf ("# Manufacturer: %s\n", record.data);
+				break;
+			case AltosLib.AO_LOG_PRODUCT:
+				out.printf ("# Product: %s\n", record.data);
+				break;
+			case AltosLib.AO_LOG_SERIAL_NUMBER:
+				out.printf ("# Serial number: %d\n", record.a);
+				break;
+			case AltosLib.AO_LOG_SOFTWARE_VERSION:
+				out.printf ("# Software version: %s\n", record.data);
+				break;
+			case Altos.AO_LOG_BARO_RESERVED:
+				out.printf ("# Baro reserved: %d\n", record.a);
+				break;
+			case Altos.AO_LOG_BARO_SENS:
+				out.printf ("# Baro sens: %d\n", record.a);
+				break;
+			case Altos.AO_LOG_BARO_OFF:
+				out.printf ("# Baro off: %d\n", record.a);
+				break;
+			case Altos.AO_LOG_BARO_TCS:
+				out.printf ("# Baro tcs: %d\n", record.a);
+				break;
+			case Altos.AO_LOG_BARO_TCO:
+				out.printf ("# Baro tco: %d\n", record.a);
+				break;
+			case Altos.AO_LOG_BARO_TREF:
+				out.printf ("# Baro tref: %d\n", record.a);
+				break;
+			case Altos.AO_LOG_BARO_TEMPSENS:
+				out.printf ("# Baro tempsens: %d\n", record.a);
+				break;
+			case Altos.AO_LOG_BARO_CRC:
+				out.printf ("# Baro crc: %d\n", record.a);
+				break;
+			}
+		}
+	}
+
+	/*
+	 * Given an AO_LOG_GPS_TIME record with correct time, and one
+	 * missing time, rewrite the missing time values with the good
+	 * ones, assuming that the difference between them is 'diff' seconds
+	 */
+	void update_time(AltosOrderedRecord good, AltosOrderedRecord bad) {
+
+		int diff = (bad.tick - good.tick + 50) / 100;
+
+		int hour = (good.a & 0xff);
+		int minute = (good.a >> 8);
+		int second = (good.b & 0xff);
+		int flags = (good.b >> 8);
+		int seconds = hour * 3600 + minute * 60 + second;
+
+		/* Make sure this looks like a good GPS value */
+		if ((flags & AltosLib.AO_GPS_NUM_SAT_MASK) >> AltosLib.AO_GPS_NUM_SAT_SHIFT < 4)
+			flags = (flags & ~AltosLib.AO_GPS_NUM_SAT_MASK) | (4 << AltosLib.AO_GPS_NUM_SAT_SHIFT);
+		flags |= AltosLib.AO_GPS_RUNNING;
+		flags |= AltosLib.AO_GPS_VALID;
+
+		int new_seconds = seconds + diff;
+		if (new_seconds < 0)
+			new_seconds += 24 * 3600;
+		int new_second = (new_seconds % 60);
+		int new_minutes = (new_seconds / 60);
+		int new_minute = (new_minutes % 60);
+		int new_hours = (new_minutes / 60);
+		int new_hour = (new_hours % 24);
+
+		bad.a = new_hour + (new_minute << 8);
+		bad.b = new_second + (flags << 8);
+	}
+
+	/*
+	 * Read the whole file, dumping records into a RB tree so
+	 * we can enumerate them in time order -- the eeprom data
+	 * are sometimes out of order with GPS data getting timestamps
+	 * matching the first packet out of the GPS unit but not
+	 * written until the final GPS packet has been received.
+	 */
+	public AltosEepromIterable (FileInputStream input) {
+		records = new TreeSet<AltosOrderedRecord>();
+
+		AltosOrderedRecord last_gps_time = null;
+
+		int index = 0;
+		int prev_tick = 0;
+		boolean prev_tick_valid = false;
+		boolean missing_time = false;
+
+		try {
+			for (;;) {
+				String line = AltosRecord.gets(input);
+				if (line == null)
+					break;
+				AltosOrderedRecord record = new AltosOrderedRecord(line, index++, prev_tick, prev_tick_valid);
+				if (record == null)
+					break;
+				if (record.cmd == AltosLib.AO_LOG_INVALID)
+					continue;
+				prev_tick = record.tick;
+				if (record.cmd < AltosLib.AO_LOG_CONFIG_VERSION)
+					prev_tick_valid = true;
+				if (record.cmd == AltosLib.AO_LOG_FLIGHT) {
+					flight_record = record;
+					continue;
+				}
+
+				/* Two firmware bugs caused the loss of some GPS data.
+				 * The flight date would never be recorded, and often
+				 * the flight time would get overwritten by another
+				 * record. Detect the loss of the GPS date and fix up the
+				 * missing time records
+				 */
+				if (record.cmd == AltosLib.AO_LOG_GPS_DATE) {
+					gps_date_record = record;
+					continue;
+				}
+
+				/* go back and fix up any missing time values */
+				if (record.cmd == AltosLib.AO_LOG_GPS_TIME) {
+					last_gps_time = record;
+					if (missing_time) {
+						Iterator<AltosOrderedRecord> iterator = records.iterator();
+						while (iterator.hasNext()) {
+							AltosOrderedRecord old = iterator.next();
+							if (old.cmd == AltosLib.AO_LOG_GPS_TIME &&
+							    old.a == -1 && old.b == -1)
+							{
+								update_time(record, old);
+							}
+						}
+						missing_time = false;
+					}
+				}
+
+				if (record.cmd == AltosLib.AO_LOG_GPS_LAT) {
+					if (last_gps_time == null || last_gps_time.tick != record.tick) {
+						AltosOrderedRecord add_gps_time = new AltosOrderedRecord(AltosLib.AO_LOG_GPS_TIME,
+													 record.tick,
+													 -1, -1, index-1);
+						if (last_gps_time != null)
+							update_time(last_gps_time, add_gps_time);
+						else
+							missing_time = true;
+
+						records.add(add_gps_time);
+						record.index = index++;
+					}
+				}
+				records.add(record);
+
+				/* Bail after reading the 'landed' record; we're all done */
+				if (record.cmd == AltosLib.AO_LOG_STATE &&
+				    record.a == AltosLib.ao_flight_landed)
+					break;
+			}
+		} catch (IOException io) {
+		} catch (ParseException pe) {
+		}
+		try {
+			input.close();
+		} catch (IOException ie) {
+		}
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosEepromLog.java b/altoslib/src/org/altusmetrum/AltosLib/AltosEepromLog.java
new file mode 100644
index 00000000..7fca4bd9
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosEepromLog.java
@@ -0,0 +1,100 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.*;
+
+/*
+ * Extract a bit of information from an eeprom-stored flight log.
+ */
+
+public class AltosEepromLog {
+	public int		serial;
+	public boolean		has_flight;
+	public int		flight;
+	public int		start_block;
+	public int		end_block;
+
+	public int		year, month, day;
+
+	public boolean		selected;
+
+	public AltosEepromLog(AltosConfigData config_data,
+			      AltosLink link,
+			      int in_flight, int in_start_block,
+			      int in_end_block)
+		throws InterruptedException, TimeoutException {
+
+		int		block;
+		boolean		has_date = false;
+
+		flight = in_flight;
+		if (flight != 0)
+			has_flight = true;
+		start_block = in_start_block;
+		end_block = in_end_block;
+		serial = config_data.serial;
+
+		/*
+		 * Select all flights for download
+		 */
+		selected = true;
+
+		/*
+		 * Look in TeleMetrum log data for date
+		 */
+		if (config_data.log_format == AltosLib.AO_LOG_FORMAT_UNKNOWN ||
+		    config_data.log_format == AltosLib.AO_LOG_FORMAT_FULL)
+		{
+			/*
+			 * Only look in the first two blocks so that this
+			 * process doesn't take a long time
+			 */
+			if (in_end_block > in_start_block + 2)
+				in_end_block = in_start_block + 2;
+
+			for (block = in_start_block; block < in_end_block; block++) {
+				AltosEepromChunk eechunk = new AltosEepromChunk(link, block, block == in_start_block);
+
+				for (int i = 0; i < eechunk.chunk_size; i += AltosEepromRecord.record_length) {
+					try {
+						AltosEepromRecord r = new AltosEepromRecord(eechunk, i);
+
+						if (r.cmd == AltosLib.AO_LOG_FLIGHT) {
+							flight = r.b;
+							has_flight = true;
+						}
+						if (r.cmd == AltosLib.AO_LOG_GPS_DATE) {
+							year = 2000 + (r.a & 0xff);
+							month = (r.a >> 8) & 0xff;
+							day = (r.b & 0xff);
+							has_date = true;
+						}
+					} catch (ParseException pe) {
+					}
+				}
+				if (has_date && has_flight)
+					break;
+			}
+		}
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosEepromRecord.java b/altoslib/src/org/altusmetrum/AltosLib/AltosEepromRecord.java
new file mode 100644
index 00000000..1e845f46
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosEepromRecord.java
@@ -0,0 +1,139 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.*;
+
+public class AltosEepromRecord {
+	public int	cmd;
+	public int	tick;
+	public int	a;
+	public int	b;
+	public String	data;
+	public boolean	tick_valid;
+
+	public static final int	record_length = 8;
+
+	public AltosEepromRecord (AltosEepromChunk chunk, int start) throws ParseException {
+
+		cmd = chunk.data(start);
+		tick_valid = true;
+
+		tick_valid = !chunk.erased(start, record_length);
+		if (tick_valid) {
+			if (AltosConvert.checksum(chunk.data, start, record_length) != 0)
+				throw new ParseException(String.format("invalid checksum at 0x%x",
+								       chunk.address + start), 0);
+		} else {
+			cmd = AltosLib.AO_LOG_INVALID;
+		}
+
+		tick = chunk.data16(start + 2);
+		a = chunk.data16(start + 4);
+		b = chunk.data16(start + 6);
+
+		data = null;
+	}
+
+	public AltosEepromRecord (String line) {
+		tick_valid = false;
+		tick = 0;
+		a = 0;
+		b = 0;
+		data = null;
+		if (line == null) {
+			cmd = AltosLib.AO_LOG_INVALID;
+			data = "";
+		} else {
+			try {
+				String[] tokens = line.split("\\s+");
+
+				if (tokens[0].length() == 1) {
+					if (tokens.length != 4) {
+						cmd = AltosLib.AO_LOG_INVALID;
+						data = line;
+					} else {
+						cmd = tokens[0].codePointAt(0);
+						tick = Integer.parseInt(tokens[1],16);
+						tick_valid = true;
+						a = Integer.parseInt(tokens[2],16);
+						b = Integer.parseInt(tokens[3],16);
+					}
+				} else if (tokens[0].equals("Config") && tokens[1].equals("version:")) {
+					cmd = AltosLib.AO_LOG_CONFIG_VERSION;
+					data = tokens[2];
+				} else if (tokens[0].equals("Main") && tokens[1].equals("deploy:")) {
+					cmd = AltosLib.AO_LOG_MAIN_DEPLOY;
+					a = Integer.parseInt(tokens[2]);
+				} else if (tokens[0].equals("Apogee") && tokens[1].equals("delay:")) {
+					cmd = AltosLib.AO_LOG_APOGEE_DELAY;
+					a = Integer.parseInt(tokens[2]);
+				} else if (tokens[0].equals("Radio") && tokens[1].equals("channel:")) {
+					cmd = AltosLib.AO_LOG_RADIO_CHANNEL;
+					a = Integer.parseInt(tokens[2]);
+				} else if (tokens[0].equals("Callsign:")) {
+					cmd = AltosLib.AO_LOG_CALLSIGN;
+					data = tokens[1].replaceAll("\"","");
+				} else if (tokens[0].equals("Accel") && tokens[1].equals("cal")) {
+					cmd = AltosLib.AO_LOG_ACCEL_CAL;
+					a = Integer.parseInt(tokens[3]);
+					b = Integer.parseInt(tokens[5]);
+				} else if (tokens[0].equals("Radio") && tokens[1].equals("cal:")) {
+					cmd = AltosLib.AO_LOG_RADIO_CAL;
+					a = Integer.parseInt(tokens[2]);
+				} else if (tokens[0].equals("Max") && tokens[1].equals("flight") && tokens[2].equals("log:")) {
+					cmd = AltosLib.AO_LOG_MAX_FLIGHT_LOG;
+					a = Integer.parseInt(tokens[3]);
+				} else if (tokens[0].equals("manufacturer")) {
+					cmd = AltosLib.AO_LOG_MANUFACTURER;
+					data = tokens[1];
+				} else if (tokens[0].equals("product")) {
+					cmd = AltosLib.AO_LOG_PRODUCT;
+					data = tokens[1];
+				} else if (tokens[0].equals("serial-number")) {
+					cmd = AltosLib.AO_LOG_SERIAL_NUMBER;
+					a = Integer.parseInt(tokens[1]);
+				} else if (tokens[0].equals("log-format")) {
+					cmd = AltosLib.AO_LOG_LOG_FORMAT;
+					a = Integer.parseInt(tokens[1]);
+				} else if (tokens[0].equals("software-version")) {
+					cmd = AltosLib.AO_LOG_SOFTWARE_VERSION;
+					data = tokens[1];
+				} else {
+					cmd = AltosLib.AO_LOG_INVALID;
+					data = line;
+				}
+			} catch (NumberFormatException ne) {
+				cmd = AltosLib.AO_LOG_INVALID;
+				data = line;
+			}
+		}
+	}
+
+	public AltosEepromRecord(int in_cmd, int in_tick, int in_a, int in_b) {
+		tick_valid = true;
+		cmd = in_cmd;
+		tick = in_tick;
+		a = in_a;
+		b = in_b;
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosEepromTeleScience.java b/altoslib/src/org/altusmetrum/AltosLib/AltosEepromTeleScience.java
new file mode 100644
index 00000000..1758fa34
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosEepromTeleScience.java
@@ -0,0 +1,59 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.*;
+
+public class AltosEepromTeleScience {
+	public int	type;
+	public int	tick;
+	public int	tm_state;
+	public int	tm_tick;
+	public int[]	data;
+	public boolean	valid;
+
+	public static final int AO_LOG_TELESCIENCE_START = 's';
+	public static final int AO_LOG_TELESCIENCE_DATA = 'd';
+
+	static final int	max_data = 12;
+	public static final int	record_length = 32;
+
+	public AltosEepromTeleScience (AltosEepromChunk chunk, int start) throws ParseException {
+		type = chunk.data(start);
+
+		valid = !chunk.erased(start, record_length);
+		if (valid) {
+			if (AltosConvert.checksum(chunk.data, start, record_length) != 0)
+				throw new ParseException(String.format("invalid checksum at 0x%x",
+								       chunk.address + start), 0);
+		} else {
+			type = AltosLib.AO_LOG_INVALID;
+		}
+
+		tick = chunk.data16(start+2);
+		tm_tick = chunk.data16(start+4);
+		tm_state = chunk.data(start+6);
+		data = new int[max_data];
+		for (int i = 0; i < max_data; i++)
+			data[i] = chunk.data16(start + 8 + i * 2);
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosFile.java b/altoslib/src/org/altusmetrum/AltosLib/AltosFile.java
new file mode 100644
index 00000000..d2e4f2f7
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosFile.java
@@ -0,0 +1,44 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib; 
+
+import java.lang.*;
+import java.io.File;
+import java.util.*;
+
+public class AltosFile extends File {
+
+	public AltosFile(int year, int month, int day, int serial, int flight, String extension) {
+		super (AltosPreferences.logdir(),
+		       String.format("%04d-%02d-%02d-serial-%03d-flight-%03d.%s",
+				     year, month, day, serial, flight, extension));
+	}
+
+	public AltosFile(int serial, int flight, String extension) {
+		this(Calendar.getInstance().get(Calendar.YEAR),
+		     Calendar.getInstance().get(Calendar.MONTH) + 1,
+		     Calendar.getInstance().get(Calendar.DAY_OF_MONTH),
+		     serial,
+		     flight,
+		     extension);
+	}
+
+	public AltosFile(AltosRecord telem) {
+		this(telem.serial, telem.flight, "telem");
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosFlightReader.java b/altoslib/src/org/altusmetrum/AltosLib/AltosFlightReader.java
new file mode 100644
index 00000000..3fdea469
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosFlightReader.java
@@ -0,0 +1,49 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.lang.*;
+import java.text.*;
+import java.io.*;
+import java.util.concurrent.*;
+
+public class AltosFlightReader {
+	public String name;
+
+	public int serial;
+
+	public void init() { }
+
+	public AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException { return null; }
+
+	public void close(boolean interrupted) { }
+
+	public void set_frequency(double frequency) throws InterruptedException, TimeoutException { }
+
+	public void save_frequency() { }
+
+	public void set_telemetry(int telemetry) { }
+
+	public void save_telemetry() { }
+
+	public void update(AltosState state) throws InterruptedException { }
+
+	public boolean supports_telemetry(int telemetry) { return false; }
+
+	public File backing_file() { return null; }
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosFrequency.java b/altoslib/src/org/altusmetrum/AltosLib/AltosFrequency.java
new file mode 100644
index 00000000..f08ff116
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosFrequency.java
@@ -0,0 +1,48 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+
+public class AltosFrequency {
+	public double	frequency;
+	public String	description;
+
+	public String toString() {
+		return String.format("%7.3f MHz %-20s",
+				     frequency, description);
+	}
+
+	public String toShortString() {
+		return String.format("%7.3f MHz %s",
+				     frequency, description);
+	}
+
+	public boolean close(double f) {
+		double	diff = Math.abs(frequency - f);
+
+		return diff < 0.010;
+	}
+
+	public AltosFrequency(double f, String d) {
+		frequency = f;
+		description = d;
+	}
+}
\ No newline at end of file
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosGPS.java b/altoslib/src/org/altusmetrum/AltosLib/AltosGPS.java
new file mode 100644
index 00000000..f078a469
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosGPS.java
@@ -0,0 +1,248 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.lang.*;
+import java.text.*;
+
+public class AltosGPS {
+
+	public final static int MISSING = AltosRecord.MISSING;
+
+	public int	nsat;
+	public boolean	locked;
+	public boolean	connected;
+	public double	lat;		/* degrees (+N -S) */
+	public double	lon;		/* degrees (+E -W) */
+	public int	alt;		/* m */
+	public int	year;
+	public int	month;
+	public int	day;
+	public int	hour;
+	public int	minute;
+	public int	second;
+
+	public double	ground_speed;	/* m/s */
+	public int	course;		/* degrees */
+	public double	climb_rate;	/* m/s */
+	public double	hdop;		/* unitless */
+	public double	vdop;		/* unitless */
+	public int	h_error;	/* m */
+	public int	v_error;	/* m */
+
+	public AltosGPSSat[] cc_gps_sat;	/* tracking data */
+
+	public void ParseGPSDate(String date) throws ParseException {
+		String[] ymd = date.split("-");
+		if (ymd.length != 3)
+			throw new ParseException("error parsing GPS date " + date + " got " + ymd.length, 0);
+		year = AltosParse.parse_int(ymd[0]);
+		month = AltosParse.parse_int(ymd[1]);
+		day = AltosParse.parse_int(ymd[2]);
+	}
+
+	public void ParseGPSTime(String time) throws ParseException {
+		String[] hms = time.split(":");
+		if (hms.length != 3)
+			throw new ParseException("Error parsing GPS time " + time + " got " + hms.length, 0);
+		hour = AltosParse.parse_int(hms[0]);
+		minute = AltosParse.parse_int(hms[1]);
+		second = AltosParse.parse_int(hms[2]);
+	}
+
+	public void ClearGPSTime() {
+		year = month = day = 0;
+		hour = minute = second = 0;
+	}
+
+	public AltosGPS(AltosTelemetryMap map) throws ParseException {
+		String	state = map.get_string(AltosTelemetry.AO_TELEM_GPS_STATE,
+					       AltosTelemetry.AO_TELEM_GPS_STATE_ERROR);
+
+		nsat = map.get_int(AltosTelemetry.AO_TELEM_GPS_NUM_SAT, 0);
+		if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_LOCKED)) {
+			connected = true;
+			locked = true;
+			lat = map.get_double(AltosTelemetry.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7);
+			lon = map.get_double(AltosTelemetry.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7);
+			alt = map.get_int(AltosTelemetry.AO_TELEM_GPS_ALTITUDE, MISSING);
+			year = map.get_int(AltosTelemetry.AO_TELEM_GPS_YEAR, MISSING);
+			if (year != MISSING)
+				year += 2000;
+			month = map.get_int(AltosTelemetry.AO_TELEM_GPS_MONTH, MISSING);
+			day = map.get_int(AltosTelemetry.AO_TELEM_GPS_DAY, MISSING);
+
+			hour = map.get_int(AltosTelemetry.AO_TELEM_GPS_HOUR, 0);
+			minute = map.get_int(AltosTelemetry.AO_TELEM_GPS_MINUTE, 0);
+			second = map.get_int(AltosTelemetry.AO_TELEM_GPS_SECOND, 0);
+
+			ground_speed = map.get_double(AltosTelemetry.AO_TELEM_GPS_HORIZONTAL_SPEED,
+						      AltosRecord.MISSING, 1/100.0);
+			course = map.get_int(AltosTelemetry.AO_TELEM_GPS_COURSE,
+					     AltosRecord.MISSING);
+			hdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_HDOP, MISSING, 1.0);
+			vdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_VDOP, MISSING, 1.0);
+			h_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_HERROR, MISSING);
+			v_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_VERROR, MISSING);
+		} else if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_UNLOCKED)) {
+			connected = true;
+			locked = false;
+		} else {
+			connected = false;
+			locked = false;
+		}
+	}
+
+	public AltosGPS(String[] words, int i, int version) throws ParseException {
+		AltosParse.word(words[i++], "GPS");
+		nsat = AltosParse.parse_int(words[i++]);
+		AltosParse.word(words[i++], "sat");
+
+		connected = false;
+		locked = false;
+		lat = lon = 0;
+		alt = 0;
+		ClearGPSTime();
+		if ((words[i]).equals("unlocked")) {
+			connected = true;
+			i++;
+		} else if ((words[i]).equals("not-connected")) {
+			i++;
+		} else if (words.length >= 40) {
+			locked = true;
+			connected = true;
+
+			if (version > 1)
+				ParseGPSDate(words[i++]);
+			else
+				year = month = day = 0;
+			ParseGPSTime(words[i++]);
+			lat = AltosParse.parse_coord(words[i++]);
+			lon = AltosParse.parse_coord(words[i++]);
+			alt = AltosParse.parse_int(words[i++]);
+			if (version > 1 || (i < words.length && !words[i].equals("SAT"))) {
+				ground_speed = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(H)"));
+				course = AltosParse.parse_int(words[i++]);
+				climb_rate = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(V)"));
+				hdop = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "(hdop)"));
+				h_error = AltosParse.parse_int(words[i++]);
+				v_error = AltosParse.parse_int(words[i++]);
+			}
+		} else {
+			i++;
+		}
+		if (i < words.length) {
+			AltosParse.word(words[i++], "SAT");
+			int tracking_channels = 0;
+			if (words[i].equals("not-connected"))
+				tracking_channels = 0;
+			else
+				tracking_channels = AltosParse.parse_int(words[i]);
+			i++;
+			cc_gps_sat = new AltosGPSSat[tracking_channels];
+			for (int chan = 0; chan < tracking_channels; chan++) {
+				cc_gps_sat[chan] = new AltosGPSSat();
+				cc_gps_sat[chan].svid = AltosParse.parse_int(words[i++]);
+				/* Older versions included SiRF status bits */
+				if (version < 2)
+					i++;
+				cc_gps_sat[chan].c_n0 = AltosParse.parse_int(words[i++]);
+			}
+		} else
+			cc_gps_sat = new AltosGPSSat[0];
+	}
+
+	public void set_latitude(int in_lat) {
+		lat = in_lat / 10.0e7;
+	}
+
+	public void set_longitude(int in_lon) {
+		lon = in_lon / 10.0e7;
+	}
+
+	public void set_time(int hour, int minute, int second) {
+		hour = hour;
+		minute = minute;
+		second = second;
+	}
+
+	public void set_date(int year, int month, int day) {
+		year = year;
+		month = month;
+		day = day;
+	}
+
+	public void set_flags(int flags) {
+		flags = flags;
+	}
+
+	public void set_altitude(int altitude) {
+		altitude = altitude;
+	}
+
+	public void add_sat(int svid, int c_n0) {
+		if (cc_gps_sat == null) {
+			cc_gps_sat = new AltosGPSSat[1];
+		} else {
+			AltosGPSSat[] new_gps_sat = new AltosGPSSat[cc_gps_sat.length + 1];
+			for (int i = 0; i < cc_gps_sat.length; i++)
+				new_gps_sat[i] = cc_gps_sat[i];
+			cc_gps_sat = new_gps_sat;
+		}
+		AltosGPSSat	sat = new AltosGPSSat();
+		sat.svid = svid;
+		sat.c_n0 = c_n0;
+		cc_gps_sat[cc_gps_sat.length - 1] = sat;
+	}
+
+	public AltosGPS() {
+		ClearGPSTime();
+		cc_gps_sat = null;
+	}
+
+	public AltosGPS(AltosGPS old) {
+		nsat = old.nsat;
+		locked = old.locked;
+		connected = old.connected;
+		lat = old.lat;		/* degrees (+N -S) */
+		lon = old.lon;		/* degrees (+E -W) */
+		alt = old.alt;		/* m */
+		year = old.year;
+		month = old.month;
+		day = old.day;
+		hour = old.hour;
+		minute = old.minute;
+		second = old.second;
+
+		ground_speed = old.ground_speed;	/* m/s */
+		course = old.course;		/* degrees */
+		climb_rate = old.climb_rate;	/* m/s */
+		hdop = old.hdop;		/* unitless? */
+		h_error = old.h_error;	/* m */
+		v_error = old.v_error;	/* m */
+
+		if (old.cc_gps_sat != null) {
+			cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
+			for (int i = 0; i < old.cc_gps_sat.length; i++) {
+				cc_gps_sat[i] = new AltosGPSSat();
+				cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
+				cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
+			}
+		}
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosGPSSat.java b/altoslib/src/org/altusmetrum/AltosLib/AltosGPSSat.java
new file mode 100644
index 00000000..faa1ec8d
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosGPSSat.java
@@ -0,0 +1,32 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+public class AltosGPSSat {
+	public int	svid;
+	public int	c_n0;
+
+	public AltosGPSSat(int s, int c) {
+		svid = s;
+		c_n0= c;
+	}
+
+	public AltosGPSSat() {
+	}
+}
+
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosGreatCircle.java b/altoslib/src/org/altusmetrum/AltosLib/AltosGreatCircle.java
new file mode 100644
index 00000000..76b71859
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosGreatCircle.java
@@ -0,0 +1,101 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.lang.Math;
+
+public class AltosGreatCircle {
+	public double	distance;
+	public double	bearing;
+
+	double sqr(double a) { return a * a; }
+
+	static final double rad = Math.PI / 180;
+	static final double earth_radius = 6371.2 * 1000;	/* in meters */
+
+	public static final int BEARING_LONG = 0;
+	public static final int BEARING_SHORT = 1;
+	public static final int BEARING_VOICE = 2;
+
+	public String bearing_words(int length) {
+		String [][] bearing_string = {
+			{
+				"North", "North North East", "North East", "East North East",
+				"East", "East South East", "South East", "South South East",
+				"South", "South South West", "South West", "West South West",
+				"West", "West North West", "North West", "North North West"
+			}, {
+				"N", "NNE", "NE", "ENE",
+				"E", "ESE", "SE", "SSE",
+				"S", "SSW", "SW", "WSW",
+				"W", "WNW", "NW", "NNW"
+			}, {
+				"north", "nor nor east", "north east", "east nor east",
+				"east", "east sow east", "south east", "sow sow east",
+				"south", "sow sow west", "south west", "west sow west",
+				"west", "west nor west", "north west", "nor nor west "
+			}
+		};
+		return bearing_string[length][(int)((bearing / 90 * 8 + 1) / 2)%16];
+	}
+
+	public AltosGreatCircle (double start_lat, double start_lon,
+				 double end_lat, double end_lon)
+	{
+		double lat1 = rad * start_lat;
+		double lon1 = rad * -start_lon;
+		double lat2 = rad * end_lat;
+		double lon2 = rad * -end_lon;
+
+		double d_lon = lon2 - lon1;
+
+		/* From http://en.wikipedia.org/wiki/Great-circle_distance */
+		double vdn = Math.sqrt(sqr(Math.cos(lat2) * Math.sin(d_lon)) +
+				       sqr(Math.cos(lat1) * Math.sin(lat2) -
+					   Math.sin(lat1) * Math.cos(lat2) * Math.cos(d_lon)));
+		double vdd = Math.sin(lat1) * Math.sin(lat2) + Math.cos(lat1) * Math.cos(lat2) * Math.cos(d_lon);
+		double d = Math.atan2(vdn,vdd);
+		double course;
+
+		if (Math.cos(lat1) < 1e-20) {
+			if (lat1 > 0)
+				course = Math.PI;
+			else
+				course = -Math.PI;
+		} else {
+			if (d < 1e-10)
+				course = 0;
+			else
+				course = Math.acos((Math.sin(lat2)-Math.sin(lat1)*Math.cos(d)) /
+						   (Math.sin(d)*Math.cos(lat1)));
+			if (Math.sin(lon2-lon1) > 0)
+				course = 2 * Math.PI-course;
+		}
+		distance = d * earth_radius;
+		bearing = course * 180/Math.PI;
+	}
+
+	public AltosGreatCircle(AltosGPS start, AltosGPS end) {
+		this(start.lat, start.lon, end.lat, end.lon);
+	}
+
+	public AltosGreatCircle() {
+		distance = 0;
+		bearing = 0;
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosLib.java b/altoslib/src/org/altusmetrum/AltosLib/AltosLib.java
new file mode 100644
index 00000000..2921d040
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosLib.java
@@ -0,0 +1,348 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.awt.*;
+import java.util.*;
+import java.text.*;
+import java.nio.charset.Charset;
+
+public class AltosLib {
+	/* EEProm command letters */
+	public static final int AO_LOG_FLIGHT = 'F';
+	public static final int AO_LOG_SENSOR = 'A';
+	public static final int AO_LOG_TEMP_VOLT = 'T';
+	public static final int AO_LOG_DEPLOY = 'D';
+	public static final int AO_LOG_STATE = 'S';
+	public static final int AO_LOG_GPS_TIME = 'G';
+	public static final int AO_LOG_GPS_LAT = 'N';
+	public static final int AO_LOG_GPS_LON = 'W';
+	public static final int AO_LOG_GPS_ALT = 'H';
+	public static final int AO_LOG_GPS_SAT = 'V';
+	public static final int AO_LOG_GPS_DATE = 'Y';
+	public static final int AO_LOG_PRESSURE = 'P';
+
+	/* Added for header fields in eeprom files */
+	public static final int AO_LOG_CONFIG_VERSION = 1000;
+	public static final int AO_LOG_MAIN_DEPLOY = 1001;
+	public static final int AO_LOG_APOGEE_DELAY = 1002;
+	public static final int AO_LOG_RADIO_CHANNEL = 1003;
+	public static final int AO_LOG_CALLSIGN = 1004;
+	public static final int AO_LOG_ACCEL_CAL = 1005;
+	public static final int AO_LOG_RADIO_CAL = 1006;
+	public static final int AO_LOG_MAX_FLIGHT_LOG = 1007;
+	public static final int AO_LOG_MANUFACTURER = 2000;
+	public static final int AO_LOG_PRODUCT = 2001;
+	public static final int AO_LOG_SERIAL_NUMBER = 2002;
+	public static final int AO_LOG_LOG_FORMAT = 2003;
+	public static final int AO_LOG_SOFTWARE_VERSION = 9999;
+
+	/* Added to flag invalid records */
+	public static final int AO_LOG_INVALID = -1;
+
+	/* Flight state numbers and names */
+	public static final int ao_flight_startup = 0;
+	public static final int ao_flight_idle = 1;
+	public static final int ao_flight_pad = 2;
+	public static final int ao_flight_boost = 3;
+	public static final int ao_flight_fast = 4;
+	public static final int ao_flight_coast = 5;
+	public static final int ao_flight_drogue = 6;
+	public static final int ao_flight_main = 7;
+	public static final int ao_flight_landed = 8;
+	public static final int ao_flight_invalid = 9;
+
+	/* Telemetry modes */
+	public static final int ao_telemetry_off = 0;
+	public static final int ao_telemetry_min = 1;
+	public static final int ao_telemetry_standard = 1;
+	public static final int ao_telemetry_0_9 = 2;
+	public static final int ao_telemetry_0_8 = 3;
+	public static final int ao_telemetry_max = 3;
+
+	public static final String[] ao_telemetry_name = {
+		"Off", "Standard Telemetry", "TeleMetrum v0.9", "TeleMetrum v0.8"
+	};
+
+	public static final String launch_sites_url = "http://www.altusmetrum.org/AltOS/launch-sites.txt";
+
+	public static final int ao_telemetry_standard_len = 32;
+	public static final int ao_telemetry_0_9_len = 95;
+	public static final int ao_telemetry_0_8_len = 94;
+
+	public static final int[] ao_telemetry_len = {
+		0, 32, 95, 94
+	};
+
+	public static HashMap<String,Integer>	string_to_state = new HashMap<String,Integer>();
+
+	public static boolean map_initialized = false;
+
+	public static void initialize_map()
+	{
+		string_to_state.put("startup", ao_flight_startup);
+		string_to_state.put("idle", ao_flight_idle);
+		string_to_state.put("pad", ao_flight_pad);
+		string_to_state.put("boost", ao_flight_boost);
+		string_to_state.put("fast", ao_flight_fast);
+		string_to_state.put("coast", ao_flight_coast);
+		string_to_state.put("drogue", ao_flight_drogue);
+		string_to_state.put("apogee", ao_flight_coast);
+		string_to_state.put("main", ao_flight_main);
+		string_to_state.put("landed", ao_flight_landed);
+		string_to_state.put("invalid", ao_flight_invalid);
+		map_initialized = true;
+	}
+
+	public static int telemetry_len(int telemetry) {
+		if (telemetry <= ao_telemetry_max)
+			return ao_telemetry_len[telemetry];
+		throw new IllegalArgumentException(String.format("Invalid telemetry %d",
+								 telemetry));
+	}
+
+	public static String telemetry_name(int telemetry) {
+		if (telemetry <= ao_telemetry_max)
+			return ao_telemetry_name[telemetry];
+		throw new IllegalArgumentException(String.format("Invalid telemetry %d",
+								 telemetry));
+	}
+	
+	public static String[] state_to_string = {
+		"startup",
+		"idle",
+		"pad",
+		"boost",
+		"fast",
+		"coast",
+		"drogue",
+		"main",
+		"landed",
+		"invalid",
+	};
+
+	public static String[] state_to_string_capital = {
+		"Startup",
+		"Idle",
+		"Pad",
+		"Boost",
+		"Fast",
+		"Coast",
+		"Drogue",
+		"Main",
+		"Landed",
+		"Invalid",
+	};
+
+	public static int state(String state) {
+		if (!map_initialized)
+			initialize_map();
+		if (string_to_state.containsKey(state))
+			return string_to_state.get(state);
+		return ao_flight_invalid;
+	}
+
+	public static String state_name(int state) {
+		if (state < 0 || state_to_string.length <= state)
+			return "invalid";
+		return state_to_string[state];
+	}
+
+	public static final int AO_GPS_VALID = (1 << 4);
+	public static final int AO_GPS_RUNNING = (1 << 5);
+	public static final int AO_GPS_DATE_VALID = (1 << 6);
+	public static final int AO_GPS_NUM_SAT_SHIFT = 0;
+	public static final int AO_GPS_NUM_SAT_MASK = 0xf;
+
+	public static final int AO_LOG_FORMAT_UNKNOWN = 0;
+	public static final int AO_LOG_FORMAT_FULL = 1;
+	public static final int AO_LOG_FORMAT_TINY = 2;
+	public static final int AO_LOG_FORMAT_TELEMETRY = 3;
+	public static final int AO_LOG_FORMAT_TELESCIENCE = 4;
+	public static final int AO_LOG_FORMAT_NONE = 127;
+
+	public static boolean isspace(int c) {
+		switch (c) {
+		case ' ':
+		case '\t':
+			return true;
+		}
+		return false;
+	}
+
+	public static boolean ishex(int c) {
+		if ('0' <= c && c <= '9')
+			return true;
+		if ('a' <= c && c <= 'f')
+			return true;
+		if ('A' <= c && c <= 'F')
+			return true;
+		return false;
+	}
+
+	public static boolean ishex(String s) {
+		for (int i = 0; i < s.length(); i++)
+			if (!ishex(s.charAt(i)))
+				return false;
+		return true;
+	}
+
+	public static int fromhex(int c) {
+		if ('0' <= c && c <= '9')
+			return c - '0';
+		if ('a' <= c && c <= 'f')
+			return c - 'a' + 10;
+		if ('A' <= c && c <= 'F')
+			return c - 'A' + 10;
+		return -1;
+	}
+
+	public static int fromhex(String s) throws NumberFormatException {
+		int c, v = 0;
+		for (int i = 0; i < s.length(); i++) {
+			c = s.charAt(i);
+			if (!ishex(c)) {
+				if (i == 0)
+					throw new NumberFormatException(String.format("invalid hex \"%s\"", s));
+				return v;
+			}
+			v = v * 16 + fromhex(c);
+		}
+		return v;
+	}
+
+	public static boolean isdec(int c) {
+		if ('0' <= c && c <= '9')
+			return true;
+		return false;
+	}
+
+	public static boolean isdec(String s) {
+		for (int i = 0; i < s.length(); i++)
+			if (!isdec(s.charAt(i)))
+				return false;
+		return true;
+	}
+
+	public static int fromdec(int c) {
+		if ('0' <= c && c <= '9')
+			return c - '0';
+		return -1;
+	}
+
+	public static int int8(int[] bytes, int i) {
+		return (int) (byte) bytes[i];
+	}
+
+	public static int uint8(int[] bytes, int i) {
+		return bytes[i];
+	}
+
+	public static int int16(int[] bytes, int i) {
+		return (int) (short) (bytes[i] + (bytes[i+1] << 8));
+	}
+
+	public static int uint16(int[] bytes, int i) {
+		return bytes[i] + (bytes[i+1] << 8);
+	}
+
+	public static int uint32(int[] bytes, int i) {
+		return bytes[i] +
+			(bytes[i+1] << 8) +
+			(bytes[i+2] << 16) +
+			(bytes[i+3] << 24);
+	}
+
+	public static final Charset	unicode_set = Charset.forName("UTF-8");
+
+	public static String string(int[] bytes, int s, int l) {
+		if (s + l > bytes.length) {
+			if (s > bytes.length) {
+				s = bytes.length;
+				l = 0;
+			} else {
+				l = bytes.length - s;
+			}
+		}
+
+		int i;
+		for (i = l - 1; i >= 0; i--)
+			if (bytes[s+i] != 0)
+				break;
+
+		l = i + 1;
+		byte[]	b = new byte[l];
+
+		for (i = 0; i < l; i++)
+			b[i] = (byte) bytes[s+i];
+		String n = new String(b, unicode_set);
+		return n;
+	}
+
+	public static int hexbyte(String s, int i) {
+		int c0, c1;
+
+		if (s.length() < i + 2)
+			throw new NumberFormatException(String.format("invalid hex \"%s\"", s));
+		c0 = s.charAt(i);
+		if (!ishex(c0))
+			throw new NumberFormatException(String.format("invalid hex \"%c\"", c0));
+		c1 = s.charAt(i+1);
+		if (!ishex(c1))
+			throw new NumberFormatException(String.format("invalid hex \"%c\"", c1));
+		return fromhex(c0) * 16 + fromhex(c1);
+	}
+
+	public static int[] hexbytes(String s) {
+		int	n;
+		int[]	r;
+		int	i;
+
+		if ((s.length() & 1) != 0)
+			throw new NumberFormatException(String.format("invalid line \"%s\"", s));
+		n = s.length() / 2;
+		r = new int[n];
+		for (i = 0; i < n; i++)
+			r[i] = hexbyte(s, i * 2);
+		return r;
+	}
+
+	public static int fromdec(String s) throws NumberFormatException {
+		int c, v = 0;
+		int sign = 1;
+		for (int i = 0; i < s.length(); i++) {
+			c = s.charAt(i);
+			if (i == 0 && c == '-') {
+				sign = -1;
+			} else if (!isdec(c)) {
+				if (i == 0)
+					throw new NumberFormatException(String.format("invalid number \"%s\"", s));
+				return v;
+			} else
+				v = v * 10 + fromdec(c);
+		}
+		return v * sign;
+	}
+
+	public static String replace_extension(String input, String extension) {
+		int dot = input.lastIndexOf(".");
+		if (dot > 0)
+			input = input.substring(0,dot);
+		return input.concat(extension);
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosLine.java b/altoslib/src/org/altusmetrum/AltosLib/AltosLine.java
new file mode 100644
index 00000000..5627795a
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosLine.java
@@ -0,0 +1,30 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+public class AltosLine {
+	public String	line;
+
+	public AltosLine() {
+		line = null;
+	}
+
+	public AltosLine(String s) {
+		line = s;
+	}
+}
\ No newline at end of file
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosLink.java b/altoslib/src/org/altusmetrum/AltosLib/AltosLink.java
new file mode 100644
index 00000000..9b80e916
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosLink.java
@@ -0,0 +1,238 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.lang.*;
+import java.io.*;
+import java.util.concurrent.*;
+import java.util.*;
+import java.text.*;
+
+public abstract class AltosLink {
+	public abstract void print(String data);
+	public abstract void close();
+
+	public static boolean debug = false;
+	public static void set_debug(boolean in_debug) { debug = in_debug; }
+	LinkedList<String> pending_output = new LinkedList<String>();
+
+	public LinkedList<LinkedBlockingQueue<AltosLine>> monitors = new LinkedList<LinkedBlockingQueue<AltosLine>> ();;
+	public LinkedBlockingQueue<AltosLine> reply_queue = new LinkedBlockingQueue<AltosLine>();
+
+	public void add_monitor(LinkedBlockingQueue<AltosLine> q) {
+		set_monitor(true);
+		monitors.add(q);
+	}
+
+	public void remove_monitor(LinkedBlockingQueue<AltosLine> q) {
+		monitors.remove(q);
+		if (monitors.isEmpty())
+			set_monitor(false);
+	}
+
+	public void printf(String format, Object ... arguments) {
+		String	line = String.format(format, arguments);
+		if (debug)
+			pending_output.add(line);
+		print(line);
+	}
+
+	public String get_reply_no_dialog(int timeout) throws InterruptedException, TimeoutException {
+		flush_output();
+		AltosLine line = reply_queue.poll(timeout, TimeUnit.MILLISECONDS);
+		if (line != null)
+			return line.line;
+		return null;
+	}
+
+	public String get_reply(int timeout) throws InterruptedException {
+		try {
+			return get_reply_no_dialog(timeout);
+		} catch (TimeoutException te) {
+			return null;
+		}
+	}
+
+	public String get_reply() throws InterruptedException {
+		return get_reply(5000);
+	}
+
+	public void add_telem(AltosLine line) throws InterruptedException {
+		for (int e = 0; e < monitors.size(); e++) {
+			LinkedBlockingQueue<AltosLine> q = monitors.get(e);
+			q.put(line);
+		}
+	}
+
+	public void add_reply(AltosLine line) throws InterruptedException {
+		reply_queue.put (line);
+	}
+
+	public void add_string(String line) throws InterruptedException {
+		if (line.startsWith("TELEM") || line.startsWith("VERSION") || line.startsWith("CRC")) {
+			add_telem(new AltosLine(line));
+		} else {
+			add_reply(new AltosLine(line));
+		}
+	}
+
+	public void add_bytes(byte[] bytes, int len) throws InterruptedException {
+		String	line;
+		try {
+			line = new String(bytes, 0, len, "UTF-8");
+		} catch (UnsupportedEncodingException ue) {
+			line = "";
+			for (int i = 0; i < len; i++)
+				line = line + bytes[i];
+		}
+		if (debug)
+			System.out.printf("\t\t\t\t\t%s\n", line);
+		add_string(line);
+	}
+
+	public void flush_output() {
+		for (String s : pending_output)
+			System.out.print(s);
+		pending_output.clear();
+	}
+
+	public void flush_input(int timeout) throws InterruptedException {
+		flush_output();
+		boolean	got_some;
+
+		do {
+			Thread.sleep(timeout);
+			got_some = !reply_queue.isEmpty();
+			reply_queue.clear();
+		} while (got_some);
+	}
+
+
+	public void flush_input() throws InterruptedException {
+		flush_input(100);
+	}
+
+
+	/*
+	 * Various command-level operations on
+	 * the link
+	 */
+	public boolean monitor_mode = false;
+	public int telemetry = AltosLib.ao_telemetry_standard;
+	public double frequency;
+	AltosConfigData	config_data;
+
+	private int telemetry_len() {
+		return AltosLib.telemetry_len(telemetry);
+	}
+
+	public void set_telemetry(int in_telemetry) {
+		telemetry = in_telemetry;
+		if (monitor_mode)
+			printf("m 0\nm %x\n", telemetry_len());
+		flush_output();
+	}
+
+	public void set_monitor(boolean monitor) {
+		monitor_mode = monitor;
+		if (monitor)
+			printf("m %x\n", telemetry_len());
+		else
+			printf("m 0\n");
+		flush_output();
+	}
+
+	private void set_channel(int channel) {
+		if (monitor_mode)
+			printf("m 0\nc r %d\nm %x\n",
+			       channel, telemetry_len());
+		else
+			printf("c r %d\n", channel);
+		flush_output();
+	}
+
+	private void set_radio_setting(int setting) {
+		if (monitor_mode)
+			printf("m 0\nc R %d\nm %x\n",
+			       setting, telemetry_len());
+		else
+			printf("c R %d\n", setting);
+		flush_output();
+	}
+
+	public void set_radio_frequency(double frequency,
+					boolean has_setting,
+					int cal) {
+		if (debug)
+			System.out.printf("set_radio_frequency %7.3f %b %d\n", frequency, has_setting, cal);
+		if (has_setting)
+			set_radio_setting(AltosConvert.radio_frequency_to_setting(frequency, cal));
+		else
+			set_channel(AltosConvert.radio_frequency_to_channel(frequency));
+	}
+
+	public AltosConfigData config_data() throws InterruptedException, TimeoutException {
+		if (config_data == null)
+			config_data = new AltosConfigData(this);
+		return config_data;
+	}
+
+	public void set_radio_frequency(double in_frequency) throws InterruptedException, TimeoutException {
+		frequency = in_frequency;
+		config_data();
+		set_radio_frequency(frequency,
+				    config_data.radio_setting != 0,
+				    config_data.radio_calibration);
+	}
+
+	public void set_callsign(String callsign) {
+		printf ("c c %s\n", callsign);
+		flush_output();
+	}
+
+	public boolean remote;
+	public int serial;
+	public String name;
+
+	public void start_remote() throws TimeoutException, InterruptedException {
+		if (debug)
+			System.out.printf("start remote %7.3f\n", frequency);
+		if (frequency == 0.0)
+			frequency = AltosPreferences.frequency(serial);
+		set_radio_frequency(frequency);
+		set_callsign(AltosPreferences.callsign());
+		printf("p\nE 0\n");
+		flush_input();
+		remote = true;
+	}
+
+	public void stop_remote() throws InterruptedException {
+		if (debug)
+			System.out.printf("stop remote\n");
+		try {
+			flush_input();
+		} finally {
+			printf ("~\n");
+			flush_output();
+		}
+		remote = false;
+	}
+
+	public AltosLink() {
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosLog.java b/altoslib/src/org/altusmetrum/AltosLib/AltosLog.java
new file mode 100644
index 00000000..08c45ca8
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosLog.java
@@ -0,0 +1,126 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.io.*;
+import java.lang.*;
+import java.util.*;
+import java.text.ParseException;
+import java.util.concurrent.LinkedBlockingQueue;
+
+/*
+ * This creates a thread to capture telemetry data and write it to
+ * a log file
+ */
+class AltosLog implements Runnable {
+
+	LinkedBlockingQueue<AltosLine>	input_queue;
+	LinkedBlockingQueue<String>	pending_queue;
+	int				serial;
+	int				flight;
+	FileWriter			log_file;
+	Thread				log_thread;
+	AltosFile			file;
+
+	private void close_log_file() {
+		if (log_file != null) {
+			try {
+				log_file.close();
+			} catch (IOException io) {
+			}
+			log_file = null;
+		}
+	}
+
+	void close() {
+		close_log_file();
+		if (log_thread != null) {
+			log_thread.interrupt();
+			log_thread = null;
+		}
+	}
+
+	File file() {
+		return file;
+	}
+
+	boolean open (AltosRecord telem) throws IOException {
+		AltosFile	a = new AltosFile(telem);
+
+		System.out.printf("open %s\n", a.toString());
+		log_file = new FileWriter(a, true);
+		if (log_file != null) {
+			while (!pending_queue.isEmpty()) {
+				try {
+					String s = pending_queue.take();
+					log_file.write(s);
+					log_file.write('\n');
+				} catch (InterruptedException ie) {
+				}
+			}
+			log_file.flush();
+			file = a;
+		}
+		return log_file != null;
+	}
+
+	public void run () {
+		try {
+			AltosRecord	previous = null;
+			for (;;) {
+				AltosLine	line = input_queue.take();
+				if (line.line == null)
+					continue;
+				try {
+					AltosRecord	telem = AltosTelemetry.parse(line.line, previous);
+					if (telem.serial != 0 && telem.flight != 0 &&
+					    (telem.serial != serial || telem.flight != flight || log_file == null))
+					{
+						close_log_file();
+						serial = telem.serial;
+						flight = telem.flight;
+						open(telem);
+					}
+					previous = telem;
+				} catch (ParseException pe) {
+				} catch (AltosCRCException ce) {
+				}
+				if (log_file != null) {
+					log_file.write(line.line);
+					log_file.write('\n');
+					log_file.flush();
+				} else
+					pending_queue.put(line.line);
+			}
+		} catch (InterruptedException ie) {
+		} catch (IOException ie) {
+		}
+		close();
+	}
+
+	public AltosLog (AltosLink link) {
+		pending_queue = new LinkedBlockingQueue<String> ();
+		input_queue = new LinkedBlockingQueue<AltosLine> ();
+		link.add_monitor(input_queue);
+		serial = -1;
+		flight = -1;
+		log_file = null;
+		log_thread = new Thread(this);
+		log_thread.start();
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosParse.java b/altoslib/src/org/altusmetrum/AltosLib/AltosParse.java
new file mode 100644
index 00000000..7d832f1a
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosParse.java
@@ -0,0 +1,79 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.text.*;
+import java.lang.*;
+
+public class AltosParse {
+	public static boolean isdigit(char c) {
+		return '0' <= c && c <= '9';
+	}
+
+	public static int parse_int(String v) throws ParseException {
+		try {
+			return AltosLib.fromdec(v);
+		} catch (NumberFormatException e) {
+			throw new ParseException("error parsing int " + v, 0);
+		}
+	}
+
+	public static int parse_hex(String v) throws ParseException {
+		try {
+			return AltosLib.fromhex(v);
+		} catch (NumberFormatException e) {
+			throw new ParseException("error parsing hex " + v, 0);
+		}
+	}
+
+	public static double parse_double(String v) throws ParseException {
+		try {
+			return Double.parseDouble(v);
+		} catch (NumberFormatException e) {
+			throw new ParseException("error parsing double " + v, 0);
+		}
+	}
+
+	public static double parse_coord(String coord) throws ParseException {
+		String[]	dsf = coord.split("\\D+");
+
+		if (dsf.length != 3) {
+			throw new ParseException("error parsing coord " + coord, 0);
+		}
+		int deg = parse_int(dsf[0]);
+		int min = parse_int(dsf[1]);
+		int frac = parse_int(dsf[2]);
+
+		double r = deg + (min + frac / 10000.0) / 60.0;
+		if (coord.endsWith("S") || coord.endsWith("W"))
+			r = -r;
+		return r;
+	}
+
+	public static String strip_suffix(String v, String suffix) {
+		if (v.endsWith(suffix))
+			return v.substring(0, v.length() - suffix.length());
+		return v;
+	}
+
+	public static void word(String v, String m) throws ParseException {
+		if (!v.equals(m)) {
+			throw new ParseException("error matching '" + v + "' '" + m + "'", 0);
+		}
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosPreferences.java b/altoslib/src/org/altusmetrum/AltosLib/AltosPreferences.java
new file mode 100644
index 00000000..43c7088d
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosPreferences.java
@@ -0,0 +1,365 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+import java.awt.Component;
+import javax.swing.*;
+import javax.swing.filechooser.FileSystemView;
+
+public class AltosPreferences {
+	public static Preferences preferences;
+
+	/* logdir preference name */
+	public final static String logdirPreference = "LOGDIR";
+
+	/* channel preference name */
+	public final static String channelPreferenceFormat = "CHANNEL-%d";
+
+	/* frequency preference name */
+	public final static String frequencyPreferenceFormat = "FREQUENCY-%d";
+
+	/* telemetry format preference name */
+	public final static String telemetryPreferenceFormat = "TELEMETRY-%d";
+
+	/* voice preference name */
+	public final static String voicePreference = "VOICE";
+
+	/* callsign preference name */
+	public final static String callsignPreference = "CALLSIGN";
+
+	/* firmware directory preference name */
+	public final static String firmwaredirPreference = "FIRMWARE";
+
+	/* serial debug preference name */
+	public final static String serialDebugPreference = "SERIAL-DEBUG";
+
+	/* scanning telemetry preferences name */
+	public final static String scanningTelemetryPreference = "SCANNING-TELEMETRY";
+
+	/* Launcher serial preference name */
+	public final static String launcherSerialPreference = "LAUNCHER-SERIAL";
+
+	/* Launcher channel preference name */
+	public final static String launcherChannelPreference = "LAUNCHER-CHANNEL";
+	
+	/* Default logdir is ~/TeleMetrum */
+	public final static String logdirName = "TeleMetrum";
+
+	/* Log directory */
+	public static File logdir;
+
+	/* Map directory -- hangs of logdir */
+	public static File mapdir;
+
+	/* Frequency (map serial to frequency) */
+	public static Hashtable<Integer, Double> frequencies;
+
+	/* Telemetry (map serial to telemetry format) */
+	public static Hashtable<Integer, Integer> telemetries;
+
+	/* Voice preference */
+	public static boolean voice;
+
+	/* Callsign preference */
+	public static String callsign;
+
+	/* Firmware directory */
+	public static File firmwaredir;
+
+	/* Scanning telemetry */
+	public static int scanning_telemetry;
+
+	/* List of frequencies */
+	public final static String common_frequencies_node_name = "COMMON-FREQUENCIES";
+	public static AltosFrequency[] common_frequencies;
+
+	public final static String	frequency_count = "COUNT";
+	public final static String	frequency_format = "FREQUENCY-%d";
+	public final static String	description_format = "DESCRIPTION-%d";
+
+	public static AltosFrequency[] load_common_frequencies() {
+		AltosFrequency[] frequencies = null;
+		boolean	existing = false;
+		try {
+			existing = preferences.nodeExists(common_frequencies_node_name);
+		} catch (BackingStoreException be) {
+			existing = false;
+		}
+		if (existing) {
+			Preferences	node = preferences.node(common_frequencies_node_name);
+			int		count = node.getInt(frequency_count, 0);
+
+			frequencies = new AltosFrequency[count];
+			for (int i = 0; i < count; i++) {
+				double	frequency;
+				String	description;
+
+				frequency = node.getDouble(String.format(frequency_format, i), 0.0);
+				description = node.get(String.format(description_format, i), null);
+				frequencies[i] = new AltosFrequency(frequency, description);
+			}
+		} else {
+			frequencies = new AltosFrequency[10];
+			for (int i = 0; i < 10; i++) {
+				frequencies[i] = new AltosFrequency(434.550 + i * .1,
+									   String.format("Channel %d", i));
+			}
+		}
+		return frequencies;
+	}
+
+	public static void save_common_frequencies(AltosFrequency[] frequencies) {
+		Preferences	node = preferences.node(common_frequencies_node_name);
+
+		node.putInt(frequency_count, frequencies.length);
+		for (int i = 0; i < frequencies.length; i++) {
+			node.putDouble(String.format(frequency_format, i), frequencies[i].frequency);
+			node.put(String.format(description_format, i), frequencies[i].description);
+		}
+	}
+	public static int launcher_serial;
+
+	public static int launcher_channel;
+
+	public static void init() {
+		preferences = Preferences.userRoot().node("/org/altusmetrum/altosui");
+
+		/* Initialize logdir from preferences */
+		String logdir_string = preferences.get(logdirPreference, null);
+		if (logdir_string != null)
+			logdir = new File(logdir_string);
+		else {
+			/* Use the file system view default directory */
+			logdir = new File(FileSystemView.getFileSystemView().getDefaultDirectory(), logdirName);
+			if (!logdir.exists())
+				logdir.mkdirs();
+		}
+		mapdir = new File(logdir, "maps");
+		if (!mapdir.exists())
+			mapdir.mkdirs();
+
+		frequencies = new Hashtable<Integer, Double>();
+
+		telemetries = new Hashtable<Integer,Integer>();
+
+		voice = preferences.getBoolean(voicePreference, true);
+
+		callsign = preferences.get(callsignPreference,"N0CALL");
+
+		scanning_telemetry = preferences.getInt(scanningTelemetryPreference,(1 << AltosLib.ao_telemetry_standard));
+
+		launcher_serial = preferences.getInt(launcherSerialPreference, 0);
+
+		launcher_channel = preferences.getInt(launcherChannelPreference, 0);
+
+		String firmwaredir_string = preferences.get(firmwaredirPreference, null);
+		if (firmwaredir_string != null)
+			firmwaredir = new File(firmwaredir_string);
+		else
+			firmwaredir = null;
+
+		common_frequencies = load_common_frequencies();
+
+	}
+
+	static { init(); }
+
+	public static void flush_preferences() {
+		try {
+			preferences.flush();
+		} catch (BackingStoreException ee) {
+/*
+			if (component != null)
+				JOptionPane.showMessageDialog(component,
+							      preferences.absolutePath(),
+							      "Cannot save prefernces",
+							      JOptionPane.ERROR_MESSAGE);
+			else
+*/
+				System.err.printf("Cannot save preferences\n");
+		}
+	}
+
+	public static void set_logdir(File new_logdir) {
+		logdir = new_logdir;
+		mapdir = new File(logdir, "maps");
+		if (!mapdir.exists())
+			mapdir.mkdirs();
+		synchronized (preferences) {
+			preferences.put(logdirPreference, logdir.getPath());
+			flush_preferences();
+		}
+	}
+
+	public static File logdir() {
+		return logdir;
+	}
+
+	public static File mapdir() {
+		return mapdir;
+	}
+
+	public static void set_frequency(int serial, double new_frequency) {
+		frequencies.put(serial, new_frequency);
+		synchronized (preferences) {
+			preferences.putDouble(String.format(frequencyPreferenceFormat, serial), new_frequency);
+			flush_preferences();
+		}
+	}
+
+	public static double frequency(int serial) {
+		if (frequencies.containsKey(serial))
+			return frequencies.get(serial);
+		double frequency = preferences.getDouble(String.format(frequencyPreferenceFormat, serial), 0);
+		if (frequency == 0.0) {
+			int channel = preferences.getInt(String.format(channelPreferenceFormat, serial), 0);
+			frequency = AltosConvert.radio_channel_to_frequency(channel);
+		}
+		frequencies.put(serial, frequency);
+		return frequency;
+	}
+
+	public static void set_telemetry(int serial, int new_telemetry) {
+		telemetries.put(serial, new_telemetry);
+		synchronized (preferences) {
+			preferences.putInt(String.format(telemetryPreferenceFormat, serial), new_telemetry);
+			flush_preferences();
+		}
+	}
+
+	public static int telemetry(int serial) {
+		if (telemetries.containsKey(serial))
+			return telemetries.get(serial);
+		int telemetry = preferences.getInt(String.format(telemetryPreferenceFormat, serial),
+						   AltosLib.ao_telemetry_standard);
+		telemetries.put(serial, telemetry);
+		return telemetry;
+	}
+
+	public static void set_scanning_telemetry(int new_scanning_telemetry) {
+		scanning_telemetry = new_scanning_telemetry;
+		synchronized (preferences) {
+			preferences.putInt(scanningTelemetryPreference, scanning_telemetry);
+			flush_preferences();
+		}
+	}
+
+	public static int scanning_telemetry() {
+		return scanning_telemetry;
+	}
+
+	public static void set_voice(boolean new_voice) {
+		voice = new_voice;
+		synchronized (preferences) {
+			preferences.putBoolean(voicePreference, voice);
+			flush_preferences();
+		}
+	}
+
+	public static boolean voice() {
+		return voice;
+	}
+
+	public static void set_callsign(String new_callsign) {
+		callsign = new_callsign;
+		synchronized(preferences) {
+			preferences.put(callsignPreference, callsign);
+			flush_preferences();
+		}
+	}
+
+	public static String callsign() {
+		return callsign;
+	}
+
+	public static void set_firmwaredir(File new_firmwaredir) {
+		firmwaredir = new_firmwaredir;
+		synchronized (preferences) {
+			preferences.put(firmwaredirPreference, firmwaredir.getPath());
+			flush_preferences();
+		}
+	}
+
+	public static File firmwaredir() {
+		return firmwaredir;
+	}
+
+	public static void set_launcher_serial(int new_launcher_serial) {
+		launcher_serial = new_launcher_serial;
+		System.out.printf("set launcher serial to %d\n", new_launcher_serial);
+		synchronized (preferences) {
+			preferences.putInt(launcherSerialPreference, launcher_serial);
+			flush_preferences();
+		}
+	}
+
+	public static int launcher_serial() {
+		return launcher_serial;
+	}
+
+	public static void set_launcher_channel(int new_launcher_channel) {
+		launcher_channel = new_launcher_channel;
+		System.out.printf("set launcher channel to %d\n", new_launcher_channel);
+		synchronized (preferences) {
+			preferences.putInt(launcherChannelPreference, launcher_channel);
+			flush_preferences();
+		}
+	}
+
+	public static int launcher_channel() {
+		return launcher_channel;
+	}
+	
+	public static Preferences bt_devices() {
+		return preferences.node("bt_devices");
+	}
+
+	public static AltosFrequency[] common_frequencies() {
+		return common_frequencies;
+	}
+
+	public static void set_common_frequencies(AltosFrequency[] frequencies) {
+		common_frequencies = frequencies;
+		synchronized(preferences) {
+			save_common_frequencies(frequencies);
+			flush_preferences();
+		}
+	}
+
+	public static void add_common_frequency(AltosFrequency frequency) {
+		AltosFrequency[]	new_frequencies = new AltosFrequency[common_frequencies.length + 1];
+		int			i;
+
+		for (i = 0; i < common_frequencies.length; i++) {
+			if (frequency.frequency == common_frequencies[i].frequency)
+				return;
+			if (frequency.frequency < common_frequencies[i].frequency)
+				break;
+			new_frequencies[i] = common_frequencies[i];
+		}
+		new_frequencies[i] = frequency;
+		for (; i < common_frequencies.length; i++)
+			new_frequencies[i+1] = common_frequencies[i];
+		set_common_frequencies(new_frequencies);
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosRecord.java b/altoslib/src/org/altusmetrum/AltosLib/AltosRecord.java
new file mode 100644
index 00000000..e4915af0
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosRecord.java
@@ -0,0 +1,319 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+import java.io.*;
+
+public class AltosRecord implements Comparable <AltosRecord> {
+	public final static int	MISSING = 0x7fffffff;
+
+	public static final int	seen_flight = 1;
+	public static final int	seen_sensor = 2;
+	public static final int	seen_temp_volt = 4;
+	public static final int	seen_deploy = 8;
+	public static final int	seen_gps_time = 16;
+	public static final int	seen_gps_lat = 32;
+	public static final int	seen_gps_lon = 64;
+	public static final int	seen_companion = 128;
+	public int			seen;
+
+	public int	version;
+	public String 	callsign;
+	public int	serial;
+	public int	flight;
+	public int	rssi;
+	public int	status;
+	public int	state;
+	public int	tick;
+
+	public int	accel;
+	public int	pres;
+	public int	temp;
+	public int	batt;
+	public int	drogue;
+	public int	main;
+
+	public int	ground_accel;
+	public int	ground_pres;
+	public int	accel_plus_g;
+	public int	accel_minus_g;
+
+	public double	acceleration;
+	public double	speed;
+	public double	height;
+
+	public int	flight_accel;
+	public int	flight_vel;
+	public int	flight_pres;
+
+	public AltosGPS	gps;
+	public boolean		new_gps;
+
+	public AltosIMU	imu;
+	public AltosMag	mag;
+
+	public double	time;	/* seconds since boost */
+
+	public int	device_type;
+	public int	config_major;
+	public int	config_minor;
+	public int	apogee_delay;
+	public int	main_deploy;
+	public int	flight_log_max;
+	public String	firmware_version;
+
+	public AltosRecordCompanion companion;
+
+>>>>>>> 5a249bc... altosui: Complete split out of separate java library
+	/*
+	 * Values for our MP3H6115A pressure sensor
+	 *
+	 * From the data sheet:
+	 *
+	 * Pressure range: 15-115 kPa
+	 * Voltage at 115kPa: 2.82
+	 * Output scale: 27mV/kPa
+	 *
+	 *
+	 * 27 mV/kPa * 2047 / 3300 counts/mV = 16.75 counts/kPa
+	 * 2.82V * 2047 / 3.3 counts/V = 1749 counts/115 kPa
+	 */
+
+	public static final double counts_per_kPa = 27 * 2047 / 3300;
+	public static final double counts_at_101_3kPa = 1674.0;
+
+	public static double
+	barometer_to_pressure(double count)
+	{
+		return ((count / 16.0) / 2047.0 + 0.095) / 0.009 * 1000.0;
+	}
+
+	public double raw_pressure() {
+		if (pres == MISSING)
+			return MISSING;
+		return barometer_to_pressure(pres);
+	}
+
+	public double filtered_pressure() {
+		if (flight_pres == MISSING)
+			return MISSING;
+		return barometer_to_pressure(flight_pres);
+	}
+
+	public double ground_pressure() {
+		if (ground_pres == MISSING)
+			return MISSING;
+		return barometer_to_pressure(ground_pres);
+	}
+
+	public double raw_altitude() {
+		double p = raw_pressure();
+		if (p == MISSING)
+			return MISSING;
+		return AltosConvert.pressure_to_altitude(p);
+	}
+
+	public double ground_altitude() {
+		double p = ground_pressure();
+		if (p == MISSING)
+			return MISSING;
+		return AltosConvert.pressure_to_altitude(p);
+	}
+
+	public double filtered_altitude() {
+		if (height != MISSING && ground_pres != MISSING)
+			return height + ground_altitude();
+
+		double	p = filtered_pressure();
+		if (p == MISSING)
+			return MISSING;
+		return AltosConvert.pressure_to_altitude(p);
+	}
+
+	public double filtered_height() {
+		if (height != MISSING)
+			return height;
+
+		double f = filtered_altitude();
+		double g = ground_altitude();
+		if (f == MISSING || g == MISSING)
+			return MISSING;
+		return f - g;
+	}
+
+	public double raw_height() {
+		double r = raw_altitude();
+		double g = ground_altitude();
+
+		if (r == MISSING || g == MISSING)
+			return height;
+		return r - g;
+	}
+
+	public double battery_voltage() {
+		if (batt == MISSING)
+			return MISSING;
+		return AltosConvert.cc_battery_to_voltage(batt);
+	}
+
+	public double main_voltage() {
+		if (main == MISSING)
+			return MISSING;
+		return AltosConvert.cc_ignitor_to_voltage(main);
+	}
+
+	public double drogue_voltage() {
+		if (drogue == MISSING)
+			return MISSING;
+		return AltosConvert.cc_ignitor_to_voltage(drogue);
+	}
+
+	/* Value for the CC1111 built-in temperature sensor
+	 * Output voltage at 0°C = 0.755V
+	 * Coefficient = 0.00247V/°C
+	 * Reference voltage = 1.25V
+	 *
+	 * temp = ((value / 32767) * 1.25 - 0.755) / 0.00247
+	 *      = (value - 19791.268) / 32768 * 1.25 / 0.00247
+	 */
+
+	public static double
+	thermometer_to_temperature(double thermo)
+	{
+		return (thermo - 19791.268) / 32728.0 * 1.25 / 0.00247;
+	}
+
+	public double temperature() {
+		if (temp == MISSING)
+			return MISSING;
+		return thermometer_to_temperature(temp);
+	}
+
+	public double accel_counts_per_mss() {
+		double	counts_per_g = Math.abs(accel_minus_g - accel_plus_g) / 2;
+
+		return counts_per_g / 9.80665;
+	}
+
+	public double acceleration() {
+		if (acceleration != MISSING)
+			return acceleration;
+
+		if (ground_accel == MISSING || accel == MISSING)
+			return MISSING;
+		return (ground_accel - accel) / accel_counts_per_mss();
+	}
+
+	public double accel_speed() {
+		if (speed != MISSING)
+			return speed;
+		if (flight_vel == MISSING)
+			return MISSING;
+		return flight_vel / (accel_counts_per_mss() * 100.0);
+	}
+
+	public String state() {
+		return AltosLib.state_name(state);
+	}
+
+	public static String gets(FileInputStream s) throws IOException {
+		int c;
+		String	line = "";
+
+		while ((c = s.read()) != -1) {
+			if (c == '\r')
+				continue;
+			if (c == '\n') {
+				return line;
+			}
+			line = line + (char) c;
+		}
+		return null;
+	}
+
+	public int compareTo(AltosRecord o) {
+		return tick - o.tick;
+	}
+
+	public AltosRecord(AltosRecord old) {
+		version = old.version;
+		seen = old.seen;
+		callsign = old.callsign;
+		serial = old.serial;
+		flight = old.flight;
+		rssi = old.rssi;
+		status = old.status;
+		state = old.state;
+		tick = old.tick;
+		accel = old.accel;
+		pres = old.pres;
+		temp = old.temp;
+		batt = old.batt;
+		drogue = old.drogue;
+		main = old.main;
+		flight_accel = old.flight_accel;
+		ground_accel = old.ground_accel;
+		flight_vel = old.flight_vel;
+		flight_pres = old.flight_pres;
+		ground_pres = old.ground_pres;
+		accel_plus_g = old.accel_plus_g;
+		accel_minus_g = old.accel_minus_g;
+		acceleration = old.acceleration;
+		speed = old.speed;
+		height = old.height;
+		gps = new AltosGPS(old.gps);
+		new_gps = false;
+		companion = old.companion;
+		imu = old.imu;
+		mag = old.mag;
+	}
+
+	public AltosRecord() {
+		version = 0;
+		seen = 0;
+		callsign = "N0CALL";
+		serial = 0;
+		flight = 0;
+		rssi = 0;
+		status = 0;
+		state = AltosLib.ao_flight_startup;
+		tick = 0;
+		accel = MISSING;
+		pres = MISSING;
+		temp = MISSING;
+		batt = MISSING;
+		drogue = MISSING;
+		main = MISSING;
+		flight_accel = 0;
+		ground_accel = 0;
+		flight_vel = 0;
+		flight_pres = 0;
+		ground_pres = 0;
+		accel_plus_g = 0;
+		accel_minus_g = 0;
+		acceleration = MISSING;
+		speed = MISSING;
+		height = MISSING;
+		gps = new AltosGPS();
+		new_gps = false;
+		companion = null;
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosRecordCompanion.java b/altoslib/src/org/altusmetrum/AltosLib/AltosRecordCompanion.java
new file mode 100644
index 00000000..c8cc6cac
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosRecordCompanion.java
@@ -0,0 +1,38 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+public class AltosRecordCompanion {
+	public final static int	board_id_telescience = 0x0a;
+	public final static int	MAX_CHANNELS = 12;
+
+	public int	tick;
+	public int	board_id;
+	public int	update_period;
+	public int	channels;
+	public int[]	companion_data;
+
+	public AltosRecordCompanion(int in_channels) {
+		channels = in_channels;
+		if (channels < 0)
+			channels = 0;
+		if (channels > MAX_CHANNELS)
+			channels = MAX_CHANNELS;
+		companion_data = new int[channels];
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosRecordIterable.java b/altoslib/src/org/altusmetrum/AltosLib/AltosRecordIterable.java
new file mode 100644
index 00000000..ed1787ed
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosRecordIterable.java
@@ -0,0 +1,29 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.io.*;
+import java.util.*;
+
+public abstract class AltosRecordIterable implements Iterable<AltosRecord> {
+	public abstract Iterator<AltosRecord> iterator();
+	public void write_comments(PrintStream out) { }
+	public boolean has_accel() { return false; }
+	public boolean has_gps() { return false; }
+	public boolean has_ignite() { return false; };
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosReplayReader.java b/altoslib/src/org/altusmetrum/AltosLib/AltosReplayReader.java
new file mode 100644
index 00000000..1585f9eb
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosReplayReader.java
@@ -0,0 +1,56 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+/*
+ * Open an existing telemetry file and replay it in realtime
+ */
+
+public class AltosReplayReader extends AltosFlightReader {
+	Iterator<AltosRecord>	iterator;
+	File	file;
+
+	public AltosRecord read() {
+		if (iterator.hasNext())
+			return iterator.next();
+		return null;
+	}
+
+	public void close (boolean interrupted) {
+	}
+
+	public void update(AltosState state) throws InterruptedException {
+		/* Make it run in realtime after the rocket leaves the pad */
+		if (state.state > AltosLib.ao_flight_pad)
+			Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
+	}
+
+	public File backing_file() { return file; }
+
+	public AltosReplayReader(Iterator<AltosRecord> in_iterator, File in_file) {
+		iterator = in_iterator;
+		file = in_file;
+		name = file.getName();
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosState.java b/altoslib/src/org/altusmetrum/AltosLib/AltosState.java
new file mode 100644
index 00000000..0645e448
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosState.java
@@ -0,0 +1,210 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+/*
+ * Track flight state from telemetry or eeprom data stream
+ */
+
+package org.altusmetrum.AltosLib;
+
+public class AltosState {
+	public AltosRecord data;
+
+	/* derived data */
+
+	public long  	report_time;
+
+	public double	time;
+	public double	time_change;
+	public int	tick;
+
+	public int	state;
+	public boolean	landed;
+	public boolean	ascent;	/* going up? */
+	public boolean boost;	/* under power */
+
+	public double	ground_altitude;
+	public double	height;
+	public double	speed;
+	public double	acceleration;
+	public double	battery;
+	public double	temperature;
+	public double	main_sense;
+	public double	drogue_sense;
+	public double	baro_speed;
+
+	public double	max_height;
+	public double	max_acceleration;
+	public double	max_speed;
+	public double	max_baro_speed;
+
+	public AltosGPS	gps;
+
+	public AltosIMU	imu;
+	public AltosMag	mag;
+
+	public static final int MIN_PAD_SAMPLES = 10;
+
+	public int	npad;
+	public int	ngps;
+	public int	gps_waiting;
+	public boolean	gps_ready;
+
+	public AltosGreatCircle from_pad;
+	public double	elevation;	/* from pad */
+	public double	range;		/* total distance */
+
+	public double	gps_height;
+
+	public int	speak_tick;
+	public double	speak_altitude;
+
+	public void init (AltosRecord cur, AltosState prev_state) {
+		int		i;
+		AltosRecord prev;
+
+		data = cur;
+
+		ground_altitude = data.ground_altitude();
+		height = data.filtered_height();
+
+		report_time = System.currentTimeMillis();
+
+		acceleration = data.acceleration();
+		speed = data.accel_speed();
+		temperature = data.temperature();
+		drogue_sense = data.drogue_voltage();
+		main_sense = data.main_voltage();
+		battery = data.battery_voltage();
+		tick = data.tick;
+		state = data.state;
+
+		if (prev_state != null) {
+
+			/* Preserve any existing gps data */
+			npad = prev_state.npad;
+			ngps = prev_state.ngps;
+			gps = prev_state.gps;
+			pad_lat = prev_state.pad_lat;
+			pad_lon = prev_state.pad_lon;
+			pad_alt = prev_state.pad_alt;
+			max_height = prev_state.max_height;
+			max_acceleration = prev_state.max_acceleration;
+			max_speed = prev_state.max_speed;
+			max_baro_speed = prev_state.max_baro_speed;
+			imu = prev_state.imu;
+			mag = prev_state.mag;
+
+			/* make sure the clock is monotonic */
+			while (tick < prev_state.tick)
+				tick += 65536;
+
+			time_change = (tick - prev_state.tick) / 100.0;
+
+			/* compute barometric speed */
+
+			double height_change = height - prev_state.height;
+			if (data.speed != AltosRecord.MISSING)
+				baro_speed = data.speed;
+			else {
+				if (time_change > 0)
+					baro_speed = (prev_state.baro_speed * 3 + (height_change / time_change)) / 4.0;
+				else
+					baro_speed = prev_state.baro_speed;
+			}
+		} else {
+			npad = 0;
+			ngps = 0;
+			gps = null;
+			baro_speed = 0;
+			time_change = 0;
+		}
+
+		time = tick / 100.0;
+
+		if (cur.new_gps && (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_idle)) {
+
+			/* Track consecutive 'good' gps reports, waiting for 10 of them */
+			if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
+				npad++;
+			else
+				npad = 0;
+
+			/* Average GPS data while on the pad */
+			if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
+				if (ngps > 1) {
+					/* filter pad position */
+					pad_lat = (pad_lat * 31.0 + data.gps.lat) / 32.0;
+					pad_lon = (pad_lon * 31.0 + data.gps.lon) / 32.0;
+					pad_alt = (pad_alt * 31.0 + data.gps.alt) / 32.0;
+				} else {
+					pad_lat = data.gps.lat;
+					pad_lon = data.gps.lon;
+					pad_alt = data.gps.alt;
+				}
+				ngps++;
+			}
+		}
+
+		gps_waiting = MIN_PAD_SAMPLES - npad;
+		if (gps_waiting < 0)
+			gps_waiting = 0;
+
+		gps_ready = gps_waiting == 0;
+
+		ascent = (AltosLib.ao_flight_boost <= state &&
+			  state <= AltosLib.ao_flight_coast);
+		boost = (AltosLib.ao_flight_boost == state);
+
+		/* Only look at accelerometer data under boost */
+		if (boost && acceleration > max_acceleration)
+			max_acceleration = acceleration;
+		if (boost && speed > max_speed)
+			max_speed = speed;
+		if (boost && baro_speed > max_baro_speed)
+			max_baro_speed = baro_speed;
+
+		if (height > max_height)
+			max_height = height;
+		if (data.gps != null) {
+			if (gps == null || !gps.locked || data.gps.locked)
+				gps = data.gps;
+			if (ngps > 0 && gps.locked) {
+				from_pad = new AltosGreatCircle(pad_lat, pad_lon, gps.lat, gps.lon);
+			}
+		}
+		elevation = 0;
+		range = -1;
+		if (ngps > 0) {
+			gps_height = gps.alt - pad_alt;
+			if (from_pad != null) {
+				elevation = Math.atan2(height, from_pad.distance) * 180 / Math.PI;
+				range = Math.sqrt(height * height + from_pad.distance * from_pad.distance);
+			}
+		} else {
+			gps_height = 0;
+		}
+	}
+
+	public AltosState(AltosRecord cur) {
+		init(cur, null);
+	}
+
+	public AltosState (AltosRecord cur, AltosState prev) {
+		init(cur, prev);
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetry.java b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetry.java
new file mode 100644
index 00000000..04abb1f3
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetry.java
@@ -0,0 +1,241 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+
+/*
+ * Telemetry data contents
+ */
+
+
+/*
+ * The packet format is a simple hex dump of the raw telemetry frame.
+ * It starts with 'TELEM', then contains hex digits with a checksum as the last
+ * byte on the line.
+ *
+ * Version 4 is a replacement with consistent syntax. Each telemetry line
+ * contains a sequence of space-separated names and values, the values are
+ * either integers or strings. The names are all unique. All values are
+ * optional
+ *
+ * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944
+ *   r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764
+ *   a_s 0 a_b 26439 g_s u g_n 0 s_n 0
+ *
+ * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788
+ *   r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0
+ *
+ * General header fields
+ *
+ *	Name		Value
+ *
+ *	VERSION		Telemetry version number (4 or more). Must be first.
+ * 	c		Callsign (string, no spaces allowed)
+ *	n		Flight unit serial number (integer)
+ * 	f		Flight number (integer)
+ *	r		Packet RSSI value (integer)
+ * 	s		Flight computer state (string, no spaces allowed)
+ *	t		Flight computer clock (integer in centiseconds)
+ *
+ * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports
+ * in 1/2dB increments while this protocol provides only integers. So,
+ * the syntax didn't change just the interpretation of the RSSI
+ * values.
+ *
+ * Version 2 of the telemetry data stream is a bit of a mess, with no
+ * consistent formatting. In particular, the GPS data is formatted for
+ * viewing instead of parsing.  However, the key feature is that every
+ * telemetry line contains all of the information necessary to
+ * describe the current rocket state, including the calibration values
+ * for accelerometer and barometer.
+ *
+ * GPS unlocked:
+ *
+ * VERSION 2 CALL KB0G SERIAL  51 FLIGHT     2 RSSI  -68 STATUS ff STATE     pad  1001 \
+ *    a: 16032 p: 21232 t: 20284 v: 25160 d:   204 m:   204 fa: 16038 ga: 16032 fv:       0 \
+ *    fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS  0 sat unlocked SAT 1   15  30
+ *
+ * GPS locked:
+ *
+ * VERSION 2 CALL KB0G SERIAL  51 FLIGHT     2 RSSI  -71 STATUS ff STATE     pad  2504 \
+ *     a: 16028 p: 21220 t: 20360 v: 25004 d:   208 m:   200 fa: 16031 ga: 16032 fv:     330 \
+ *     fp: 21231 gp: 21230 a+: 16049 a-: 16304 \
+ *     GPS  9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W  1790m  \
+ *     0.00m/s(H) 0°     0.00m/s(V) 1.0(hdop)     0(herr)     0(verr) \
+ *     SAT 10   29  30  24  28   5  25  21  20  15  33   1  23  30  24  18  26  10  29   2  26
+ *
+ */
+
+public class AltosTelemetry extends AltosRecord {
+
+	/*
+	 * General header fields
+	 *
+	 *	Name		Value
+	 *
+	 *	VERSION		Telemetry version number (4 or more). Must be first.
+	 * 	c		Callsign (string, no spaces allowed)
+	 *	n		Flight unit serial number (integer)
+	 * 	f		Flight number (integer)
+	 *	r		Packet RSSI value (integer)
+	 * 	s		Flight computer state (string, no spaces allowed)
+	 *	t		Flight computer clock (integer in centiseconds)
+	 */
+
+	final static String AO_TELEM_VERSION	= "VERSION";
+	final static String AO_TELEM_CALL	= "c";
+	final static String AO_TELEM_SERIAL	= "n";
+	final static String AO_TELEM_FLIGHT	= "f";
+	final static String AO_TELEM_RSSI	= "r";
+	final static String AO_TELEM_STATE	= "s";
+	final static String AO_TELEM_TICK	= "t";
+
+	/*
+	 * Raw sensor values
+	 *
+	 *	Name		Value
+	 *	r_a		Accelerometer reading (integer)
+	 *	r_b		Barometer reading (integer)
+	 *	r_t		Thermometer reading (integer)
+	 *	r_v		Battery reading (integer)
+	 *	r_d		Drogue continuity (integer)
+	 *	r_m		Main continuity (integer)
+	 */
+
+	final static String AO_TELEM_RAW_ACCEL	= "r_a";
+	final static String AO_TELEM_RAW_BARO	= "r_b";
+	final static String AO_TELEM_RAW_THERMO	= "r_t";
+	final static String AO_TELEM_RAW_BATT	= "r_v";
+	final static String AO_TELEM_RAW_DROGUE	= "r_d";
+	final static String AO_TELEM_RAW_MAIN	= "r_m";
+
+	/*
+	 * Sensor calibration values
+	 *
+	 *	Name		Value
+	 *	c_a		Ground accelerometer reading (integer)
+	 *	c_b		Ground barometer reading (integer)
+	 *	c_p		Accelerometer reading for +1g
+	 *	c_m		Accelerometer reading for -1g
+	 */
+
+	final static String AO_TELEM_CAL_ACCEL_GROUND	= "c_a";
+	final static String AO_TELEM_CAL_BARO_GROUND	= "c_b";
+	final static String AO_TELEM_CAL_ACCEL_PLUS	= "c_p";
+	final static String AO_TELEM_CAL_ACCEL_MINUS	= "c_m";
+
+	/*
+	 * Kalman state values
+	 *
+	 *	Name		Value
+	 *	k_h		Height above pad (integer, meters)
+	 *	k_s		Vertical speeed (integer, m/s * 16)
+	 *	k_a		Vertical acceleration (integer, m/s² * 16)
+	 */
+
+	final static String AO_TELEM_KALMAN_HEIGHT	= "k_h";
+	final static String AO_TELEM_KALMAN_SPEED	= "k_s";
+	final static String AO_TELEM_KALMAN_ACCEL	= "k_a";
+
+	/*
+	 * Ad-hoc flight values
+	 *
+	 *	Name		Value
+	 *	a_a		Acceleration (integer, sensor units)
+	 *	a_s		Speed (integer, integrated acceleration value)
+	 *	a_b		Barometer reading (integer, sensor units)
+	 */
+
+	final static String AO_TELEM_ADHOC_ACCEL	= "a_a";
+	final static String AO_TELEM_ADHOC_SPEED	= "a_s";
+	final static String AO_TELEM_ADHOC_BARO		= "a_b";
+
+	/*
+	 * GPS values
+	 *
+	 *	Name		Value
+	 *	g_s		GPS state (string):
+	 *				l	locked
+	 *				u	unlocked
+	 *				e	error (missing or broken)
+	 *	g_n		Number of sats used in solution
+	 *	g_ns		Latitude (degrees * 10e7)
+	 *	g_ew		Longitude (degrees * 10e7)
+	 *	g_a		Altitude (integer meters)
+	 *	g_Y		GPS year (integer)
+	 *	g_M		GPS month (integer - 1-12)
+	 *	g_D		GPS day (integer - 1-31)
+	 *	g_h		GPS hour (integer - 0-23)
+	 *	g_m		GPS minute (integer - 0-59)
+	 *	g_s		GPS second (integer - 0-59)
+	 *	g_v		GPS vertical speed (integer, cm/sec)
+	 *	g_s		GPS horizontal speed (integer, cm/sec)
+	 *	g_c		GPS course (integer, 0-359)
+	 *	g_hd		GPS hdop (integer * 10)
+	 *	g_vd		GPS vdop (integer * 10)
+	 *	g_he		GPS h error (integer)
+	 *	g_ve		GPS v error (integer)
+	 */
+
+	final static String AO_TELEM_GPS_STATE	 		= "g";
+	final static String AO_TELEM_GPS_STATE_LOCKED		= "l";
+	final static String AO_TELEM_GPS_STATE_UNLOCKED		= "u";
+	final static String AO_TELEM_GPS_STATE_ERROR		= "e";
+	final static String AO_TELEM_GPS_NUM_SAT		= "g_n";
+	final static String AO_TELEM_GPS_LATITUDE		= "g_ns";
+	final static String AO_TELEM_GPS_LONGITUDE		= "g_ew";
+	final static String AO_TELEM_GPS_ALTITUDE		= "g_a";
+	final static String AO_TELEM_GPS_YEAR			= "g_Y";
+	final static String AO_TELEM_GPS_MONTH			= "g_M";
+	final static String AO_TELEM_GPS_DAY			= "g_D";
+	final static String AO_TELEM_GPS_HOUR			= "g_h";
+	final static String AO_TELEM_GPS_MINUTE			= "g_m";
+	final static String AO_TELEM_GPS_SECOND			= "g_s";
+	final static String AO_TELEM_GPS_VERTICAL_SPEED		= "g_v";
+	final static String AO_TELEM_GPS_HORIZONTAL_SPEED	= "g_g";
+	final static String AO_TELEM_GPS_COURSE			= "g_c";
+	final static String AO_TELEM_GPS_HDOP			= "g_hd";
+	final static String AO_TELEM_GPS_VDOP			= "g_vd";
+	final static String AO_TELEM_GPS_HERROR			= "g_he";
+	final static String AO_TELEM_GPS_VERROR			= "g_ve";
+
+	/*
+	 * GPS satellite values
+	 *
+	 *	Name		Value
+	 *	s_n		Number of satellites reported (integer)
+	 *	s_v0		Space vehicle ID (integer) for report 0
+	 *	s_c0		C/N0 number (integer) for report 0
+	 *	s_v1		Space vehicle ID (integer) for report 1
+	 *	s_c1		C/N0 number (integer) for report 1
+	 *	...
+	 */
+
+	final static String AO_TELEM_SAT_NUM	= "s_n";
+	final static String AO_TELEM_SAT_SVID	= "s_v";
+	final static String AO_TELEM_SAT_C_N_0	= "s_c";
+
+	static public AltosRecord parse(String line, AltosRecord previous) throws ParseException, AltosCRCException {
+		AltosTelemetryRecord	r = AltosTelemetryRecord.parse(line);
+
+		return r.update_state(previous);
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryIterable.java b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryIterable.java
new file mode 100644
index 00000000..f4b4029f
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryIterable.java
@@ -0,0 +1,109 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+
+public class AltosTelemetryIterable extends AltosRecordIterable {
+	TreeSet<AltosRecord>	records;
+
+	public Iterator<AltosRecord> iterator () {
+		return records.iterator();
+	}
+
+	boolean has_gps = false;
+	boolean has_accel = false;
+	boolean has_ignite = false;
+	public boolean has_gps() { return has_gps; }
+	public boolean has_accel() { return has_accel; }
+	public boolean has_ignite() { return has_ignite; };
+
+	public AltosTelemetryIterable (FileInputStream input) {
+		boolean saw_boost = false;
+		int	current_tick = 0;
+		int	boost_tick = 0;
+
+		AltosRecord	previous = null;
+		records = new TreeSet<AltosRecord> ();
+
+		try {
+			for (;;) {
+				String line = AltosRecord.gets(input);
+				if (line == null) {
+					break;
+				}
+				try {
+					AltosRecord record = AltosTelemetry.parse(line, previous);
+					if (record == null)
+						break;
+					if (records.isEmpty()) {
+						current_tick = record.tick;
+					} else {
+						int tick = record.tick;
+						while (tick < current_tick - 0x1000)
+							tick += 0x10000;
+						current_tick = tick;
+						record.tick = current_tick;
+					}
+					if (!saw_boost && record.state >= AltosLib.ao_flight_boost)
+					{
+						saw_boost = true;
+						boost_tick = record.tick;
+					}
+					if (record.accel != AltosRecord.MISSING)
+						has_accel = true;
+					if (record.gps != null)
+						has_gps = true;
+					if (record.main != AltosRecord.MISSING)
+						has_ignite = true;
+					if (previous != null && previous.tick != record.tick)
+						records.add(previous);
+					previous = record;
+				} catch (ParseException pe) {
+					System.out.printf("parse exception %s\n", pe.getMessage());
+				} catch (AltosCRCException ce) {
+				}
+			}
+		} catch (IOException io) {
+			System.out.printf("io exception\n");
+		}
+
+		if (previous != null)
+			records.add(previous);
+
+		/* Adjust all tick counts to match expected eeprom values,
+		 * which starts with a 16-bit tick count 16 samples before boost
+		 */
+
+		int tick_adjust = (boost_tick - 16) & 0xffff0000;
+		for (AltosRecord r : this)
+			r.tick -= tick_adjust;
+		boost_tick -= tick_adjust;
+
+		/* adjust all tick counts to be relative to boost time */
+		for (AltosRecord r : this)
+			r.time = (r.tick - boost_tick) / 100.0;
+
+		try {
+			input.close();
+		} catch (IOException ie) {
+		}
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryMap.java b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryMap.java
new file mode 100644
index 00000000..003cb6a9
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryMap.java
@@ -0,0 +1,63 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+
+public class AltosTelemetryMap extends HashMap<String,String> {
+	public boolean has(String key) {
+		return containsKey(key);
+	}
+
+	public String get_string(String key) throws ParseException {
+		if (!has(key))
+			throw new ParseException ("missing " + key, 0);
+		return (String) get(key);
+	}
+
+	public String get_string(String key, String def) {
+		if (has(key))
+			return get(key);
+		else
+			return def;
+	}
+
+	public int get_int(String key) throws ParseException {
+		return AltosParse.parse_int(get_string(key));
+	}
+
+	public int get_int(String key, int def) throws ParseException {
+		if (has(key))
+			return get_int(key);
+		else
+			return def;
+	}
+
+	public double get_double(String key, double def, double scale) throws ParseException {
+		if (has(key))
+			return get_int(key) * scale;
+		else
+			return def;
+	}
+
+	public AltosTelemetryMap(String[] words, int start) {
+		for (int i = start; i < words.length - 1; i += 2)
+			put(words[i], words[i+1]);
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryReader.java b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryReader.java
new file mode 100644
index 00000000..67ac1b65
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryReader.java
@@ -0,0 +1,119 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.lang.*;
+import java.text.*;
+import java.io.*;
+import java.util.concurrent.*;
+
+public class AltosTelemetryReader extends AltosFlightReader {
+	AltosLink	link;
+	AltosLog	log;
+	AltosRecord	previous;
+	double		frequency;
+	int		telemetry;
+
+	LinkedBlockingQueue<AltosLine> telem;
+
+	public AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException {
+		AltosLine l = telem.take();
+		if (l.line == null)
+			throw new IOException("IO error");
+		AltosRecord	next = AltosTelemetry.parse(l.line, previous);
+		previous = next;
+		return next;
+	}
+
+	public void flush() {
+		telem.clear();
+	}
+
+	public void close(boolean interrupted) {
+		link.remove_monitor(telem);
+		log.close();
+		link.close();
+	}
+
+	public void set_frequency(double in_frequency) throws InterruptedException, TimeoutException {
+		frequency = in_frequency;
+		link.set_radio_frequency(frequency);
+	}
+
+	public boolean supports_telemetry(int telemetry) {
+
+		try {
+			/* Version 1.0 or later firmware supports all telemetry formats */
+			if (serial.config_data().compare_version("1.0") >= 0)
+				return true;
+
+			/* Version 0.9 firmware only supports 0.9 telemetry */
+			if (serial.config_data().compare_version("0.9") >= 0) {
+				if (telemetry == Altos.ao_telemetry_0_9)
+					return true;
+				else
+					return false;
+			}
+
+			/* Version 0.8 firmware only supports 0.8 telemetry */
+			if (telemetry == Altos.ao_telemetry_0_8)
+				return true;
+			else
+				return false;
+		} catch (InterruptedException ie) {
+			return true;
+		} catch (TimeoutException te) {
+			return true;
+		}
+	}
+
+	public void save_frequency() {
+		AltosPreferences.set_frequency(link.serial, frequency);
+	}
+
+	public void set_telemetry(int in_telemetry) {
+		telemetry = in_telemetry;
+		link.set_telemetry(telemetry);
+	}
+
+	public void save_telemetry() {
+		AltosPreferences.set_telemetry(link.serial, telemetry);
+	}
+
+	public void set_monitor(boolean monitor) {
+		link.set_monitor(monitor);
+	}
+
+	public File backing_file() {
+		return log.file();
+	}
+
+	public AltosTelemetryReader (AltosLink in_link)
+		throws IOException, InterruptedException, TimeoutException {
+		link = in_link;
+		log = new AltosLog(link);
+		name = link.name;
+		previous = null;
+		telem = new LinkedBlockingQueue<AltosLine>();
+		frequency = AltosPreferences.frequency(link.serial);
+		set_frequency(frequency);
+		telemetry = AltosPreferences.telemetry(link.serial);
+		set_telemetry(telemetry);
+		link.add_monitor(telem);
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecord.java b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecord.java
new file mode 100644
index 00000000..367c148d
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecord.java
@@ -0,0 +1,126 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+public abstract class AltosTelemetryRecord {
+
+	long	received_time;
+	abstract public AltosRecord update_state(AltosRecord previous);
+
+	static boolean cksum(int[] bytes) {
+		int	sum = 0x5a;
+		for (int i = 1; i < bytes.length - 1; i++)
+			sum += bytes[i];
+		sum &= 0xff;
+		return sum == bytes[bytes.length - 1];
+	}
+
+	final static int PKT_APPEND_STATUS_1_CRC_OK		= (1 << 7);
+	final static int PKT_APPEND_STATUS_1_LQI_MASK		= (0x7f);
+	final static int PKT_APPEND_STATUS_1_LQI_SHIFT		= 0;
+
+	final static int packet_type_TM_sensor = 0x01;
+	final static int packet_type_Tm_sensor = 0x02;
+	final static int packet_type_Tn_sensor = 0x03;
+	final static int packet_type_configuration = 0x04;
+	final static int packet_type_location = 0x05;
+	final static int packet_type_satellite = 0x06;
+	final static int packet_type_companion = 0x07;
+	
+	static AltosTelemetryRecord parse_hex(String hex)  throws ParseException, AltosCRCException {
+		AltosTelemetryRecord	r;
+
+		int[] bytes;
+		try {
+			bytes = Altos.hexbytes(hex);
+		} catch (NumberFormatException ne) {
+			throw new ParseException(ne.getMessage(), 0);
+		}
+
+		/* one for length, one for checksum */
+		if (bytes[0] != bytes.length - 2)
+			throw new ParseException(String.format("invalid length %d != %d\n",
+							       bytes[0],
+							       bytes.length - 2), 0);
+		if (!cksum(bytes))
+			throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
+
+		int	rssi = Altos.int8(bytes, bytes.length - 3) / 2 - 74;
+		int	status = Altos.uint8(bytes, bytes.length - 2);
+
+		if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
+			throw new AltosCRCException(rssi);
+
+		/* length, data ..., rssi, status, checksum -- 4 bytes extra */
+		switch (bytes.length) {
+		case Altos.ao_telemetry_standard_len + 4:
+			int	type = Altos.uint8(bytes, 4 + 1);
+			switch (type) {
+			case packet_type_TM_sensor:
+			case packet_type_Tm_sensor:
+			case packet_type_Tn_sensor:
+				r = new AltosTelemetryRecordSensor(bytes, rssi);
+				break;
+			case packet_type_configuration:
+				r = new AltosTelemetryRecordConfiguration(bytes);
+				break;
+			case packet_type_location:
+				r = new AltosTelemetryRecordLocation(bytes);
+				break;
+			case packet_type_satellite:
+				r = new AltosTelemetryRecordSatellite(bytes);
+				break;
+			case packet_type_companion:
+				r = new AltosTelemetryRecordCompanion(bytes);
+				break;
+			default:
+				r = new AltosTelemetryRecordRaw(bytes);
+				break;
+			}
+			break;
+		case Altos.ao_telemetry_0_9_len + 4:
+			r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
+			break;
+		case Altos.ao_telemetry_0_8_len + 4:
+			r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
+			break;
+		default:
+			throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
+		}
+		r.received_time = System.currentTimeMillis();
+		return r;
+	}
+
+	public static AltosTelemetryRecord parse(String line) throws ParseException, AltosCRCException {
+		AltosTelemetryRecord	r;
+
+		String[] word = line.split("\\s+");
+		int i =0;
+		if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
+			i += 2;
+			AltosParse.word(word[i++], "RSSI");
+			throw new AltosCRCException(AltosParse.parse_int(word[i++]));
+		}
+
+		if (word[i].equals("TELEM"))
+			r = parse_hex(word[i+1]);
+		else
+			r = new AltosTelemetryRecordLegacy(line);
+		return r;
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordCompanion.java b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordCompanion.java
new file mode 100644
index 00000000..6ad17244
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordCompanion.java
@@ -0,0 +1,52 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+public class AltosTelemetryRecordCompanion extends AltosTelemetryRecordRaw {
+
+	AltosRecordCompanion	companion;
+
+	public AltosTelemetryRecordCompanion(int[] in_bytes) {
+		super(in_bytes);
+
+		int	off = 0;
+		if (uint8(6) == 0)
+			off = 1;
+		int channels = uint8(7+off);
+
+		if (off != 0 && channels >= 12)
+			channels = 11;
+
+		companion = new AltosRecordCompanion(channels);
+		companion.tick		= tick;
+		companion.board_id      = uint8(5);
+		companion.update_period = uint8(6+off);
+		for (int i = 0; i < companion.companion_data.length; i++)
+			companion.companion_data[i] = uint16(8 + off + i * 2);
+	}
+
+	public AltosRecord update_state(AltosRecord previous) {
+		AltosRecord	next = super.update_state(previous);
+
+		next.companion = companion;
+		next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
+
+		companion.tick = tick;
+		return next;
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordConfiguration.java b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordConfiguration.java
new file mode 100644
index 00000000..25242edc
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordConfiguration.java
@@ -0,0 +1,64 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+
+public class AltosTelemetryRecordConfiguration extends AltosTelemetryRecordRaw {
+	int	device_type;
+	int	flight;
+	int	config_major;
+	int	config_minor;
+	int	apogee_delay;
+	int	main_deploy;
+	int	flight_log_max;
+	String	callsign;
+	String	version;
+
+	public AltosTelemetryRecordConfiguration(int[] in_bytes) {
+		super(in_bytes);
+
+		device_type    = uint8(5);
+		flight         = uint16(6);
+		config_major   = uint8(8);
+		config_minor   = uint8(9);
+		apogee_delay   = uint16(10);
+		main_deploy    = uint16(12);
+		flight_log_max = uint16(14);
+		callsign       = string(16, 8);
+		version        = string(24, 8);
+	}
+
+	public AltosRecord update_state(AltosRecord previous) {
+		AltosRecord	next = super.update_state(previous);
+
+		next.device_type = device_type;
+		next.flight = flight;
+		next.config_major = config_major;
+		next.config_minor = config_minor;
+		next.apogee_delay = apogee_delay;
+		next.main_deploy = main_deploy;
+		next.flight_log_max = flight_log_max;
+
+		next.callsign = callsign;
+		next.firmware_version = version;
+
+		next.seen |= AltosRecord.seen_deploy | AltosRecord.seen_flight;
+
+		return next;
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordGeneral.java b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordGeneral.java
new file mode 100644
index 00000000..5e157a54
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordGeneral.java
@@ -0,0 +1,43 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+
+public class AltosTelemetryRecordGeneral {
+
+	static AltosTelemetryRecord parse(String line) throws ParseException, AltosCRCException {
+		AltosTelemetryRecord	r;
+
+		String[] word = line.split("\\s+");
+		int i =0;
+		if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
+			i += 2;
+			AltosParse.word(word[i++], "RSSI");
+			throw new AltosCRCException(AltosParse.parse_int(word[i++]));
+		}
+
+		if (word[i].equals("TELEM"))
+			r = AltosTelemetryRecordRaw.parse(word[i+1]);
+		else
+			r = new AltosTelemetryRecordLegacy(line);
+		return r;
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordLegacy.java b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordLegacy.java
new file mode 100644
index 00000000..8e3713cc
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordLegacy.java
@@ -0,0 +1,521 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+
+/*
+ * Telemetry data contents
+ */
+
+
+/*
+ * The packet format is a simple hex dump of the raw telemetry frame.
+ * It starts with 'TELEM', then contains hex digits with a checksum as the last
+ * byte on the line.
+ *
+ * Version 4 is a replacement with consistent syntax. Each telemetry line
+ * contains a sequence of space-separated names and values, the values are
+ * either integers or strings. The names are all unique. All values are
+ * optional
+ *
+ * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944
+ *   r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764
+ *   a_s 0 a_b 26439 g_s u g_n 0 s_n 0
+ *
+ * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788
+ *   r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0
+ *
+ * General header fields
+ *
+ *	Name		Value
+ *
+ *	VERSION		Telemetry version number (4 or more). Must be first.
+ * 	c		Callsign (string, no spaces allowed)
+ *	n		Flight unit serial number (integer)
+ * 	f		Flight number (integer)
+ *	r		Packet RSSI value (integer)
+ * 	s		Flight computer state (string, no spaces allowed)
+ *	t		Flight computer clock (integer in centiseconds)
+ *
+ * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports
+ * in 1/2dB increments while this protocol provides only integers. So,
+ * the syntax didn't change just the interpretation of the RSSI
+ * values.
+ *
+ * Version 2 of the telemetry data stream is a bit of a mess, with no
+ * consistent formatting. In particular, the GPS data is formatted for
+ * viewing instead of parsing.  However, the key feature is that every
+ * telemetry line contains all of the information necessary to
+ * describe the current rocket state, including the calibration values
+ * for accelerometer and barometer.
+ *
+ * GPS unlocked:
+ *
+ * VERSION 2 CALL KB0G SERIAL  51 FLIGHT     2 RSSI  -68 STATUS ff STATE     pad  1001 \
+ *    a: 16032 p: 21232 t: 20284 v: 25160 d:   204 m:   204 fa: 16038 ga: 16032 fv:       0 \
+ *    fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS  0 sat unlocked SAT 1   15  30
+ *
+ * GPS locked:
+ *
+ * VERSION 2 CALL KB0G SERIAL  51 FLIGHT     2 RSSI  -71 STATUS ff STATE     pad  2504 \
+ *     a: 16028 p: 21220 t: 20360 v: 25004 d:   208 m:   200 fa: 16031 ga: 16032 fv:     330 \
+ *     fp: 21231 gp: 21230 a+: 16049 a-: 16304 \
+ *     GPS  9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W  1790m  \
+ *     0.00m/s(H) 0°     0.00m/s(V) 1.0(hdop)     0(herr)     0(verr) \
+ *     SAT 10   29  30  24  28   5  25  21  20  15  33   1  23  30  24  18  26  10  29   2  26
+ *
+ */
+
+public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord {
+	/*
+	 * General header fields
+	 *
+	 *	Name		Value
+	 *
+	 *	VERSION		Telemetry version number (4 or more). Must be first.
+	 * 	c		Callsign (string, no spaces allowed)
+	 *	n		Flight unit serial number (integer)
+	 * 	f		Flight number (integer)
+	 *	r		Packet RSSI value (integer)
+	 * 	s		Flight computer state (string, no spaces allowed)
+	 *	t		Flight computer clock (integer in centiseconds)
+	 */
+
+	final static String AO_TELEM_VERSION	= "VERSION";
+	final static String AO_TELEM_CALL	= "c";
+	final static String AO_TELEM_SERIAL	= "n";
+	final static String AO_TELEM_FLIGHT	= "f";
+	final static String AO_TELEM_RSSI	= "r";
+	final static String AO_TELEM_STATE	= "s";
+	final static String AO_TELEM_TICK	= "t";
+
+	/*
+	 * Raw sensor values
+	 *
+	 *	Name		Value
+	 *	r_a		Accelerometer reading (integer)
+	 *	r_b		Barometer reading (integer)
+	 *	r_t		Thermometer reading (integer)
+	 *	r_v		Battery reading (integer)
+	 *	r_d		Drogue continuity (integer)
+	 *	r_m		Main continuity (integer)
+	 */
+
+	final static String AO_TELEM_RAW_ACCEL	= "r_a";
+	final static String AO_TELEM_RAW_BARO	= "r_b";
+	final static String AO_TELEM_RAW_THERMO	= "r_t";
+	final static String AO_TELEM_RAW_BATT	= "r_v";
+	final static String AO_TELEM_RAW_DROGUE	= "r_d";
+	final static String AO_TELEM_RAW_MAIN	= "r_m";
+
+	/*
+	 * Sensor calibration values
+	 *
+	 *	Name		Value
+	 *	c_a		Ground accelerometer reading (integer)
+	 *	c_b		Ground barometer reading (integer)
+	 *	c_p		Accelerometer reading for +1g
+	 *	c_m		Accelerometer reading for -1g
+	 */
+
+	final static String AO_TELEM_CAL_ACCEL_GROUND	= "c_a";
+	final static String AO_TELEM_CAL_BARO_GROUND	= "c_b";
+	final static String AO_TELEM_CAL_ACCEL_PLUS	= "c_p";
+	final static String AO_TELEM_CAL_ACCEL_MINUS	= "c_m";
+
+	/*
+	 * Kalman state values
+	 *
+	 *	Name		Value
+	 *	k_h		Height above pad (integer, meters)
+	 *	k_s		Vertical speeed (integer, m/s * 16)
+	 *	k_a		Vertical acceleration (integer, m/s² * 16)
+	 */
+
+	final static String AO_TELEM_KALMAN_HEIGHT	= "k_h";
+	final static String AO_TELEM_KALMAN_SPEED	= "k_s";
+	final static String AO_TELEM_KALMAN_ACCEL	= "k_a";
+
+	/*
+	 * Ad-hoc flight values
+	 *
+	 *	Name		Value
+	 *	a_a		Acceleration (integer, sensor units)
+	 *	a_s		Speed (integer, integrated acceleration value)
+	 *	a_b		Barometer reading (integer, sensor units)
+	 */
+
+	final static String AO_TELEM_ADHOC_ACCEL	= "a_a";
+	final static String AO_TELEM_ADHOC_SPEED	= "a_s";
+	final static String AO_TELEM_ADHOC_BARO		= "a_b";
+
+	/*
+	 * GPS values
+	 *
+	 *	Name		Value
+	 *	g_s		GPS state (string):
+	 *				l	locked
+	 *				u	unlocked
+	 *				e	error (missing or broken)
+	 *	g_n		Number of sats used in solution
+	 *	g_ns		Latitude (degrees * 10e7)
+	 *	g_ew		Longitude (degrees * 10e7)
+	 *	g_a		Altitude (integer meters)
+	 *	g_Y		GPS year (integer)
+	 *	g_M		GPS month (integer - 1-12)
+	 *	g_D		GPS day (integer - 1-31)
+	 *	g_h		GPS hour (integer - 0-23)
+	 *	g_m		GPS minute (integer - 0-59)
+	 *	g_s		GPS second (integer - 0-59)
+	 *	g_v		GPS vertical speed (integer, cm/sec)
+	 *	g_s		GPS horizontal speed (integer, cm/sec)
+	 *	g_c		GPS course (integer, 0-359)
+	 *	g_hd		GPS hdop (integer * 10)
+	 *	g_vd		GPS vdop (integer * 10)
+	 *	g_he		GPS h error (integer)
+	 *	g_ve		GPS v error (integer)
+	 */
+
+	final static String AO_TELEM_GPS_STATE	 		= "g";
+	final static String AO_TELEM_GPS_STATE_LOCKED		= "l";
+	final static String AO_TELEM_GPS_STATE_UNLOCKED		= "u";
+	final static String AO_TELEM_GPS_STATE_ERROR		= "e";
+	final static String AO_TELEM_GPS_NUM_SAT		= "g_n";
+	final static String AO_TELEM_GPS_LATITUDE		= "g_ns";
+	final static String AO_TELEM_GPS_LONGITUDE		= "g_ew";
+	final static String AO_TELEM_GPS_ALTITUDE		= "g_a";
+	final static String AO_TELEM_GPS_YEAR			= "g_Y";
+	final static String AO_TELEM_GPS_MONTH			= "g_M";
+	final static String AO_TELEM_GPS_DAY			= "g_D";
+	final static String AO_TELEM_GPS_HOUR			= "g_h";
+	final static String AO_TELEM_GPS_MINUTE			= "g_m";
+	final static String AO_TELEM_GPS_SECOND			= "g_s";
+	final static String AO_TELEM_GPS_VERTICAL_SPEED		= "g_v";
+	final static String AO_TELEM_GPS_HORIZONTAL_SPEED	= "g_g";
+	final static String AO_TELEM_GPS_COURSE			= "g_c";
+	final static String AO_TELEM_GPS_HDOP			= "g_hd";
+	final static String AO_TELEM_GPS_VDOP			= "g_vd";
+	final static String AO_TELEM_GPS_HERROR			= "g_he";
+	final static String AO_TELEM_GPS_VERROR			= "g_ve";
+
+	/*
+	 * GPS satellite values
+	 *
+	 *	Name		Value
+	 *	s_n		Number of satellites reported (integer)
+	 *	s_v0		Space vehicle ID (integer) for report 0
+	 *	s_c0		C/N0 number (integer) for report 0
+	 *	s_v1		Space vehicle ID (integer) for report 1
+	 *	s_c1		C/N0 number (integer) for report 1
+	 *	...
+	 */
+
+	final static String AO_TELEM_SAT_NUM	= "s_n";
+	final static String AO_TELEM_SAT_SVID	= "s_v";
+	final static String AO_TELEM_SAT_C_N_0	= "s_c";
+
+	AltosRecord	record;
+
+	private void parse_v4(String[] words, int i) throws ParseException {
+		AltosTelemetryMap	map = new AltosTelemetryMap(words, i);
+
+		record.callsign = map.get_string(AO_TELEM_CALL, "N0CALL");
+		record.serial = map.get_int(AO_TELEM_SERIAL, AltosRecord.MISSING);
+		record.flight = map.get_int(AO_TELEM_FLIGHT, AltosRecord.MISSING);
+		record.rssi = map.get_int(AO_TELEM_RSSI, AltosRecord.MISSING);
+		record.state = Altos.state(map.get_string(AO_TELEM_STATE, "invalid"));
+		record.tick = map.get_int(AO_TELEM_TICK, 0);
+
+		/* raw sensor values */
+		record.accel = map.get_int(AO_TELEM_RAW_ACCEL, AltosRecord.MISSING);
+		record.pres = map.get_int(AO_TELEM_RAW_BARO, AltosRecord.MISSING);
+		record.temp = map.get_int(AO_TELEM_RAW_THERMO, AltosRecord.MISSING);
+		record.batt = map.get_int(AO_TELEM_RAW_BATT, AltosRecord.MISSING);
+		record.drogue = map.get_int(AO_TELEM_RAW_DROGUE, AltosRecord.MISSING);
+		record.main = map.get_int(AO_TELEM_RAW_MAIN, AltosRecord.MISSING);
+
+		/* sensor calibration information */
+		record.ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, AltosRecord.MISSING);
+		record.ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, AltosRecord.MISSING);
+		record.accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, AltosRecord.MISSING);
+		record.accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, AltosRecord.MISSING);
+
+		/* flight computer values */
+		record.acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosRecord.MISSING, 1/16.0);
+		record.speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosRecord.MISSING, 1/16.0);
+		record.height = map.get_int(AO_TELEM_KALMAN_HEIGHT, AltosRecord.MISSING);
+
+		record.flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, AltosRecord.MISSING);
+		record.flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, AltosRecord.MISSING);
+		record.flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, AltosRecord.MISSING);
+
+		if (map.has(AO_TELEM_GPS_STATE)) {
+		record.gps = new AltosGPS(map);
+		record.new_gps = true;
+		}
+		else
+		record.gps = null;
+	}
+
+	private void parse_legacy(String[] words, int i) throws ParseException {
+
+		AltosParse.word (words[i++], "CALL");
+		record.callsign = words[i++];
+
+		AltosParse.word (words[i++], "SERIAL");
+		record.serial = AltosParse.parse_int(words[i++]);
+
+		if (record.version >= 2) {
+			AltosParse.word (words[i++], "FLIGHT");
+			record.flight = AltosParse.parse_int(words[i++]);
+		} else
+			record.flight = 0;
+
+		AltosParse.word(words[i++], "RSSI");
+		record.rssi = AltosParse.parse_int(words[i++]);
+
+		/* Older telemetry data had mis-computed RSSI value */
+		if (record.version <= 2)
+			record.rssi = (record.rssi + 74) / 2 - 74;
+
+		AltosParse.word(words[i++], "STATUS");
+		record.status = AltosParse.parse_hex(words[i++]);
+
+		AltosParse.word(words[i++], "STATE");
+		record.state = Altos.state(words[i++]);
+
+		record.tick = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "a:");
+		record.accel = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "p:");
+		record.pres = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "t:");
+		record.temp = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "v:");
+		record.batt = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "d:");
+		record.drogue = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "m:");
+		record.main = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "fa:");
+		record.flight_accel = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "ga:");
+		record.ground_accel = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "fv:");
+		record.flight_vel = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "fp:");
+		record.flight_pres = AltosParse.parse_int(words[i++]);
+
+		/* Old TeleDongle code with kalman-reporting TeleMetrum code */
+		if ((record.flight_vel & 0xffff0000) == 0x80000000) {
+			record.speed = ((short) record.flight_vel) / 16.0;
+			record.acceleration = record.flight_accel / 16.0;
+			record.height = record.flight_pres;
+			record.flight_vel = AltosRecord.MISSING;
+			record.flight_pres = AltosRecord.MISSING;
+			record.flight_accel = AltosRecord.MISSING;
+		}
+
+		AltosParse.word(words[i++], "gp:");
+		record.ground_pres = AltosParse.parse_int(words[i++]);
+
+		if (record.version >= 1) {
+			AltosParse.word(words[i++], "a+:");
+			record.accel_plus_g = AltosParse.parse_int(words[i++]);
+
+			AltosParse.word(words[i++], "a-:");
+			record.accel_minus_g = AltosParse.parse_int(words[i++]);
+		} else {
+			record.accel_plus_g = record.ground_accel;
+			record.accel_minus_g = record.ground_accel + 530;
+		}
+
+		record.gps = new AltosGPS(words, i, record.version);
+		record.new_gps = true;
+	}
+
+	public AltosTelemetryRecordLegacy(String line) throws ParseException, AltosCRCException {
+		String[] words = line.split("\\s+");
+		int	i = 0;
+
+		record = new AltosRecord();
+
+		if (words[i].equals("CRC") && words[i+1].equals("INVALID")) {
+			i += 2;
+			AltosParse.word(words[i++], "RSSI");
+			record.rssi = AltosParse.parse_int(words[i++]);
+			throw new AltosCRCException(record.rssi);
+		}
+		if (words[i].equals("CALL")) {
+			record.version = 0;
+		} else {
+			AltosParse.word (words[i++], "VERSION");
+			record.version = AltosParse.parse_int(words[i++]);
+		}
+
+		if (record.version < 4)
+			parse_legacy(words, i);
+		else
+			parse_v4(words, i);
+	}
+
+	/*
+	 * Given a hex dump of a legacy telemetry line, construct an AltosRecord from that
+	 */
+
+	int[]	bytes;
+	int	adjust;
+
+	private int int8(int i) {
+		return AltosLib.int8(bytes, i + 1 + adjust);
+	}
+	private int uint8(int i) {
+		return AltosLib.uint8(bytes, i + 1 + adjust);
+	}
+	private int int16(int i) {
+		return AltosLib.int16(bytes, i + 1 + adjust);
+	}
+	private int uint16(int i) {
+		return AltosLib.uint16(bytes, i + 1 + adjust);
+	}
+	private int uint32(int i) {
+		return AltosLib.uint32(bytes, i + 1 + adjust);
+	}
+	private String string(int i, int l) {
+		return AltosLib.string(bytes, i + 1 + adjust, l);
+	}
+
+	static final int AO_GPS_NUM_SAT_MASK	= (0xf << 0);
+	static final int AO_GPS_NUM_SAT_SHIFT	= (0);
+
+	static final int AO_GPS_VALID		= (1 << 4);
+	static final int AO_GPS_RUNNING		= (1 << 5);
+	static final int AO_GPS_DATE_VALID	= (1 << 6);
+	static final int AO_GPS_COURSE_VALID	= (1 << 7);
+
+	public AltosTelemetryRecordLegacy(int[] in_bytes, int in_rssi, int in_status) {
+		record = new AltosRecord();
+
+		bytes = in_bytes;
+		record.version = 4;
+		adjust = 0;
+
+		if (bytes.length == AltosLib.ao_telemetry_0_8_len + 4) {
+			record.serial = uint8(0);
+			adjust = -1;
+		} else
+			record.serial = uint16(0);
+
+		record.seen = AltosRecord.seen_flight | AltosRecord.seen_sensor | AltosRecord.seen_temp_volt | AltosRecord.seen_deploy;
+
+		record.callsign = string(62, 8);
+		record.flight = uint16(2);
+		record.rssi = in_rssi;
+		record.status = in_status;
+		record.state = uint8(4);
+		record.tick = uint16(21);
+		record.accel = int16(23);
+		record.pres = int16(25);
+		record.temp = int16(27);
+		record.batt = int16(29);
+		record.drogue = int16(31);
+		record.main = int16(33);
+		
+		record.ground_accel = int16(7);
+		record.ground_pres = int16(15);
+		record.accel_plus_g = int16(17);
+		record.accel_minus_g = int16(19);
+
+		if (uint16(11) == 0x8000) {
+			record.acceleration = int16(5);
+			record.speed = int16(9);
+			record.height = int16(13);
+			record.flight_accel = AltosRecord.MISSING;
+			record.flight_vel = AltosRecord.MISSING;
+			record.flight_pres = AltosRecord.MISSING;
+		} else {
+			record.flight_accel = int16(5);
+			record.flight_vel = uint32(9);
+			record.flight_pres = int16(13);
+			record.acceleration = AltosRecord.MISSING;
+			record.speed = AltosRecord.MISSING;
+			record.height = AltosRecord.MISSING;
+		}
+
+		record.gps = null;
+
+		int gps_flags = uint8(41);
+
+		if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) {
+			record.gps = new AltosGPS();
+			record.new_gps = true;
+
+			record.seen |= record.seen_gps_time | record.seen_gps_lat | record.seen_gps_lon;
+			record.gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK);
+			record.gps.locked = (gps_flags & AO_GPS_VALID) != 0;
+			record.gps.connected = true;
+			record.gps.lat = uint32(42) / 1.0e7;
+			record.gps.lon = uint32(46) / 1.0e7;
+			record.gps.alt = int16(50);
+			record.gps.ground_speed = uint16(52) / 100.0;
+			record.gps.course = uint8(54) * 2;
+			record.gps.hdop = uint8(55) / 5.0;
+			record.gps.h_error = uint16(58);
+			record.gps.v_error = uint16(60);
+
+			int	n_tracking_reported = uint8(70);
+			if (n_tracking_reported > 12)
+				n_tracking_reported = 12;
+			int	n_tracking_actual = 0;
+			for (int i = 0; i < n_tracking_reported; i++) {
+				if (uint8(71 + i*2) != 0)
+					n_tracking_actual++;
+			}
+			if (n_tracking_actual > 0) {
+				record.gps.cc_gps_sat = new AltosGPSSat[n_tracking_actual];
+
+				n_tracking_actual = 0;
+				for (int i = 0; i < n_tracking_reported; i++) {
+					int	svid = uint8(71 + i*2);
+					int	c_n0 = uint8(72 + i*2);
+					if (svid != 0)
+						record.gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0);
+				}
+			}
+		}
+
+		record.time = 0.0;
+	}
+
+	public AltosRecord update_state(AltosRecord previous) {
+		return record;
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordLocation.java b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordLocation.java
new file mode 100644
index 00000000..cddb773d
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordLocation.java
@@ -0,0 +1,93 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+
+public class AltosTelemetryRecordLocation extends AltosTelemetryRecordRaw {
+	int	flags;
+	int	altitude;
+	int	latitude;
+	int	longitude;
+	int	year;
+	int	month;
+	int	day;
+	int	hour;
+	int	minute;
+	int	second;
+	int	pdop;
+	int	hdop;
+	int	vdop;
+	int	mode;
+	int	ground_speed;
+	int	climb_rate;
+	int	course;
+
+	public AltosTelemetryRecordLocation(int[] in_bytes) {
+		super(in_bytes);
+
+		flags          = uint8(5);
+		altitude       = int16(6);
+		latitude       = uint32(8);
+		longitude      = uint32(12);
+		year	       = uint8(16);
+		month	       = uint8(17);
+		day	       = uint8(18);
+		hour	       = uint8(19);
+		minute	       = uint8(20);
+		second	       = uint8(21);
+		pdop	       = uint8(22);
+		hdop	       = uint8(23);
+		vdop	       = uint8(24);
+		mode	       = uint8(25);
+		ground_speed   = uint16(26);
+		climb_rate     = int16(28);
+		course	       = uint8(30);
+	}
+
+	public AltosRecord update_state(AltosRecord previous) {
+		AltosRecord	next = super.update_state(previous);
+
+		if (next.gps == null)
+			next.gps = new AltosGPS();
+
+		next.gps.nsat = flags & 0xf;
+		next.gps.locked = (flags & (1 << 4)) != 0;
+		next.gps.connected = (flags & (1 << 5)) != 0;
+
+		if (next.gps.locked) {
+			next.gps.lat = latitude * 1.0e-7;
+			next.gps.lon = longitude * 1.0e-7;
+			next.gps.alt = altitude;
+			next.gps.year = 2000 + year;
+			next.gps.month = month;
+			next.gps.day = day;
+			next.gps.hour = hour;
+			next.gps.minute = minute;
+			next.gps.second = second;
+			next.gps.ground_speed = ground_speed * 1.0e-2;
+			next.gps.course = course * 2;
+			next.gps.climb_rate = climb_rate * 1.0e-2;
+			next.gps.hdop = hdop;
+			next.gps.vdop = vdop;
+			next.seen |= AltosRecord.seen_gps_time | AltosRecord.seen_gps_lat | AltosRecord.seen_gps_lon;
+			next.new_gps = true;
+		}
+
+		return next;
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordRaw.java b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordRaw.java
new file mode 100644
index 00000000..43d0f17a
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordRaw.java
@@ -0,0 +1,77 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+
+public class AltosTelemetryRecordRaw extends AltosTelemetryRecord {
+	int[]	bytes;
+	int	serial;
+	int	tick;
+	int	type;
+
+	long	received_time;
+
+	public int int8(int off) {
+		return AltosLib.int8(bytes, off + 1);
+	}
+
+	public int uint8(int off) {
+		return AltosLib.uint8(bytes, off + 1);
+	}
+
+	public int int16(int off) {
+		return AltosLib.int16(bytes, off + 1);
+	}
+
+	public int uint16(int off) {
+		return AltosLib.uint16(bytes, off + 1);
+	}
+
+	public int uint32(int off) {
+		return AltosLib.uint32(bytes, off + 1);
+	}
+
+	public String string(int off, int l) {
+		return AltosLib.string(bytes, off + 1, l);
+	}
+
+	public AltosTelemetryRecordRaw(int[] in_bytes) {
+		bytes = in_bytes;
+		serial = uint16(0);
+		tick   = uint16(2);
+		type   = uint8(4);
+	}
+
+	public AltosRecord update_state(AltosRecord previous) {
+		AltosRecord	next;
+		if (previous != null)
+			next = new AltosRecord(previous);
+		else
+			next = new AltosRecord();
+		next.serial = serial;
+		next.tick = tick;
+		return next;
+	}
+
+	public long received_time() {
+		return received_time;
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordSatellite.java b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordSatellite.java
new file mode 100644
index 00000000..2526afb6
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordSatellite.java
@@ -0,0 +1,52 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+public class AltosTelemetryRecordSatellite extends AltosTelemetryRecordRaw {
+	int		channels;
+	AltosGPSSat[]	sats;
+
+	public AltosTelemetryRecordSatellite(int[] in_bytes) {
+		super(in_bytes);
+
+		channels = uint8(5);
+		if (channels > 12)
+			channels = 12;
+		if (channels == 0)
+			sats = null;
+		else {
+			sats = new AltosGPSSat[channels];
+			for (int i = 0; i < channels; i++) {
+				int	svid =  uint8(6 + i * 2 + 0);
+				int	c_n_1 = uint8(6 + i * 2 + 1);
+				sats[i] = new AltosGPSSat(svid, c_n_1);
+			}
+		}
+	}
+
+	public AltosRecord update_state(AltosRecord previous) {
+		AltosRecord	next = super.update_state(previous);
+
+		if (next.gps == null)
+			next.gps = new AltosGPS();
+
+		next.gps.cc_gps_sat = sats;
+
+		return next;
+	}
+}
diff --git a/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordSensor.java b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordSensor.java
new file mode 100644
index 00000000..cfaf90b0
--- /dev/null
+++ b/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordSensor.java
@@ -0,0 +1,104 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package org.altusmetrum.AltosLib;
+
+
+public class AltosTelemetryRecordSensor extends AltosTelemetryRecordRaw {
+	int	state;
+	int	accel;
+	int	pres;
+	int	temp;
+	int	v_batt;
+	int	sense_d;
+	int	sense_m;
+
+	int	acceleration;
+	int	speed;
+	int	height;
+
+	int	ground_accel;
+	int	ground_pres;
+	int	accel_plus_g;
+	int	accel_minus_g;
+
+	int	rssi;
+
+	public AltosTelemetryRecordSensor(int[] in_bytes, int in_rssi) {
+		super(in_bytes);
+		state         = uint8(5);
+
+		accel         = int16(6);
+		pres          = int16(8);
+		temp          = int16(10);
+		v_batt        = int16(12);
+		sense_d       = int16(14);
+		sense_m       = int16(16);
+
+		acceleration  = int16(18);
+		speed         = int16(20);
+		height        = int16(22);
+
+		ground_pres   = int16(24);
+		ground_accel  = int16(26);
+		accel_plus_g  = int16(28);
+		accel_minus_g = int16(30);
+
+		rssi	      = in_rssi;
+	}
+
+	public AltosRecord update_state(AltosRecord previous) {
+		AltosRecord	next = super.update_state(previous);
+
+		next.state = state;
+		if (type == packet_type_TM_sensor)
+			next.accel = accel;
+		else
+			next.accel = AltosRecord.MISSING;
+		next.pres = pres;
+		next.temp = temp;
+		next.batt = v_batt;
+		if (type == packet_type_TM_sensor || type == packet_type_Tm_sensor) {
+			next.drogue = sense_d;
+			next.main = sense_m;
+		} else {
+			next.drogue = AltosRecord.MISSING;
+			next.main = AltosRecord.MISSING;
+		}
+
+		next.acceleration = acceleration / 16.0;
+		next.speed = speed / 16.0;
+		next.height = height;
+
+		next.ground_pres = ground_pres;
+		if (type == packet_type_TM_sensor) {
+			next.ground_accel = ground_accel;
+			next.accel_plus_g = accel_plus_g;
+			next.accel_minus_g = accel_minus_g;
+		} else {
+			next.ground_accel = AltosRecord.MISSING;
+			next.accel_plus_g = AltosRecord.MISSING;
+			next.accel_minus_g = AltosRecord.MISSING;
+		}
+
+		next.rssi = rssi;
+
+		next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
+
+		return next;
+	}
+}