Merge branch 'branch-1.2' into debian

76 files changed, 2919 insertions, 876 deletions

diff --git a/altoslib/.gitignore b/altoslib/.gitignore
index a71d076c..ff0fd710 100644
--- a/altoslib/.gitignore
+++ b/altoslib/.gitignore
@@ -1,3 +1,3 @@
 bin
-classAltosLib.stamp
-AltosLib.jar
+classaltoslib.stamp
+altoslib*.jar
diff --git a/altoslib/AltosAccel.java b/altoslib/AltosAccel.java
index d14764a2..d02b3238 100644
--- a/altoslib/AltosAccel.java
+++ b/altoslib/AltosAccel.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosAccel extends AltosUnits {
 
@@ -37,7 +37,7 @@ public class AltosAccel extends AltosUnits {
 		return "meters per second squared";
 	}
 
-	int show_fraction(int width) {
+	public int show_fraction(int width) {
 		return width / 9;
 	}
 }
\ No newline at end of file
diff --git a/altoslib/AltosCRCException.java b/altoslib/AltosCRCException.java
index 101c5363..76e79add 100644
--- a/altoslib/AltosCRCException.java
+++ b/altoslib/AltosCRCException.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosCRCException extends Exception {
 	public int rssi;
diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java
index 6f343639..2ca5a7a5 100644
--- a/altoslib/AltosConfigData.java
+++ b/altoslib/AltosConfigData.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.util.*;
 import java.text.*;
@@ -26,30 +26,57 @@ public class AltosConfigData implements Iterable<String> {
 	/* Version information */
 	public String	manufacturer;
 	public String	product;
-	public String	version;
-	public int	log_format;
 	public int	serial;
+	public int	flight;
+	public int	log_format;
+	public String	version;
 
 	/* Strings returned */
 	public LinkedList<String>	lines;
 
 	/* Config information */
-	public int	config_major;
-	public int	config_minor;
+	/* HAS_FLIGHT*/
 	public int	main_deploy;
 	public int	apogee_delay;
-	public int	radio_channel;
-	public int	radio_setting;
+	public int	apogee_lockout;
+
+	/* HAS_RADIO */
 	public int	radio_frequency;
 	public String	callsign;
-	public int	accel_cal_plus, accel_cal_minus;
+	public int	radio_enable;
 	public int	radio_calibration;
+	/* Old HAS_RADIO values */
+	public int	radio_channel;
+	public int	radio_setting;
+
+	/* HAS_ACCEL */
+	public int	accel_cal_plus, accel_cal_minus;
+	public int	pad_orientation;
+
+	/* HAS_LOG */
 	public int	flight_log_max;
+
+	/* HAS_IGNITE */
 	public int	ignite_mode;
-	public int	stored_flight;
+
+	/* HAS_AES */
+	public String	aes_key;
+
+	/* AO_PYRO_NUM */
+	public AltosPyro[]	pyros;
+	public int		npyro;
+	public int		pyro;
+
+	/* HAS_APRS */
+	public int		aprs_interval;
+
+	/* Storage info replies */
 	public int	storage_size;
 	public int	storage_erase_unit;
 
+	/* Log listing replies */
+	public int	stored_flight;
+
 	public static String get_string(String line, String label) throws  ParseException {
 		if (line.startsWith(label)) {
 			String	quoted = line.substring(label.length()).trim();
@@ -83,18 +110,37 @@ public class AltosConfigData implements Iterable<String> {
 			if (stored_flight == 0)
 				return 1;
 			return 0;
+		case AltosLib.AO_LOG_FORMAT_TELEMETRY:
+		case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
+			return 1;
 		default:
 			if (flight_log_max <= 0)
 				return 1;
+			int	log_max = flight_log_max * 1024;
 			int	log_space = storage_size - storage_erase_unit;
-			int	log_used = stored_flight * flight_log_max;
+			int	log_used;
+
+			if (stored_flight <= 0)
+				log_used = 0;
+			else
+				log_used = stored_flight * log_max;
+			int	log_avail;
 
 			if (log_used >= log_space)
-				return 0;
-			return (log_space - log_used) / flight_log_max;
+				log_avail = 0;
+			else
+				log_avail = (log_space - log_used) / log_max;
+
+			return log_avail;
 		}
 	}
 
+	public boolean has_monitor_battery() {
+		if (product.startsWith("TeleBT"))
+			return true;
+		return false;
+	}
+
 	int[] parse_version(String v) {
 		String[] parts = v.split("\\.");
 		int r[] = new int[parts.length];
@@ -109,7 +155,7 @@ public class AltosConfigData implements Iterable<String> {
 
 		return r;
 	}
-	
+
 	public int compare_version(String other) {
 		int[]	me = parse_version(version);
 		int[]	them = parse_version(other);
@@ -128,55 +174,342 @@ public class AltosConfigData implements Iterable<String> {
 		return 0;
 	}
 
-	public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
-		link.printf("c s\nf\nl\nv\n");
+	public void reset() {
 		lines = new LinkedList<String>();
-		radio_setting = 0;
-		radio_frequency = 0;
+
+		manufacturer = "unknown";
+		product = "unknown";
+		serial = 0;
+		flight = 0;
+		log_format = AltosLib.AO_LOG_FORMAT_UNKNOWN;
+		version = "unknown";
+
+		main_deploy = -1;
+		apogee_delay = -1;
+		apogee_lockout = -1;
+
+		radio_frequency = -1;
+		callsign = null;
+		radio_enable = -1;
+		radio_calibration = -1;
+		radio_channel = -1;
+		radio_setting = -1;
+
+		accel_cal_plus = -1;
+		accel_cal_minus = -1;
+		pad_orientation = -1;
+
+		flight_log_max = -1;
+		ignite_mode = -1;
+
+		aes_key = "";
+
+		pyro = 0;
+		npyro = 0;
+		pyros = null;
+
+		aprs_interval = -1;
+
+		storage_size = -1;
+		storage_erase_unit = -1;
 		stored_flight = 0;
+	}
+
+	public void parse_line(String line) {
+		lines.add(line);
+		/* Version replies */
+		try { manufacturer = get_string(line, "manufacturer"); } catch (Exception e) {}
+		try { product = get_string(line, "product"); } catch (Exception e) {}
+		try { serial = get_int(line, "serial-number"); } catch (Exception e) {}
+		try { flight = get_int(line, "current-flight"); } catch (Exception e) {}
+		try { log_format = get_int(line, "log-format"); } catch (Exception e) {}
+		try { version = get_string(line, "software-version"); } catch (Exception e) {}
+
+		/* Version also contains MS5607 info, which we ignore here */
+
+		/* Config show replies */
+
+		/* HAS_FLIGHT */
+		try { main_deploy = get_int(line, "Main deploy:"); } catch (Exception e) {}
+		try { apogee_delay = get_int(line, "Apogee delay:"); } catch (Exception e) {}
+		try { apogee_lockout = get_int(line, "Apogee lockout:"); } catch (Exception e) {}
+
+		/* HAS_RADIO */
+		try {
+			radio_frequency = get_int(line, "Frequency:");
+			if (radio_frequency < 0)
+				radio_frequency = 434550;
+		} catch (Exception e) {}
+		try { callsign = get_string(line, "Callsign:"); } catch (Exception e) {}
+		try { radio_enable = get_int(line, "Radio enable:"); } catch (Exception e) {}
+		try { radio_calibration = get_int(line, "Radio cal:"); } catch (Exception e) {}
+
+		/* Old HAS_RADIO values */
+		try { radio_channel = get_int(line, "Radio channel:"); } catch (Exception e) {}
+		try { radio_setting = get_int(line, "Radio setting:"); } catch (Exception e) {}
+
+		/* HAS_ACCEL */
+		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 { pad_orientation = get_int(line, "Pad orientation:"); } catch (Exception e) {}
+
+		/* HAS_LOG */
+		try { flight_log_max = get_int(line, "Max flight log:"); } catch (Exception e) {}
+
+		/* HAS_IGNITE */
+		try { ignite_mode = get_int(line, "Ignite mode:"); } catch (Exception e) {}
+
+		/* HAS_AES */
+		try { aes_key = get_string(line, "AES key:"); } catch (Exception e) {}
+
+		/* AO_PYRO_NUM */
+		try {
+			npyro = get_int(line, "Pyro-count:");
+			pyros = new AltosPyro[npyro];
+			pyro = 0;
+		} catch (Exception e) {}
+		if (npyro > 0) {
+			try {
+				AltosPyro p = new AltosPyro(pyro, line);
+				if (pyro < npyro)
+					pyros[pyro++] = p;
+			} catch (Exception e) {}
+		}
+
+		/* HAS_APRS */
+		try { aprs_interval = get_int(line, "APRS interval:"); } catch (Exception e) {}
+
+		/* Storage info replies */
+		try { storage_size = get_int(line, "Storage size:"); } catch (Exception e) {}
+		try { storage_erase_unit = get_int(line, "Storage erase unit:"); } catch (Exception e) {}
+
+		/* Log listing replies */
+		try { get_int(line, "flight"); stored_flight++; }  catch (Exception e) {}
+	}
+
+	public AltosConfigData() {
+		reset();
+	}
+
+	private void read_link(AltosLink link, String finished) throws InterruptedException, TimeoutException {
 		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 { manufacturer = get_string(line,"manufacturer"); } 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) {}
+			this.parse_line(line);
 
 			/* signals the end of the version info */
-			if (line.startsWith("software-version"))
+			if (line.startsWith(finished))
 				break;
 		}
 	}
 
-}
\ No newline at end of file
+	public boolean has_frequency() {
+		return radio_frequency >= 0 || radio_setting >= 0 || radio_channel >= 0;
+	}
+
+	public void set_frequency(double freq) {
+		int	frequency = radio_frequency;
+		int	setting = radio_setting;
+
+		if (frequency > 0) {
+			radio_frequency = (int) Math.floor (freq * 1000 + 0.5);
+			radio_channel = -1;
+		} else if (setting > 0) {
+			radio_setting =AltosConvert.radio_frequency_to_setting(freq,
+										    radio_calibration);
+			radio_channel = -1;
+		} else {
+			radio_channel = AltosConvert.radio_frequency_to_channel(freq);
+		}
+	}
+
+	public double frequency() {
+		int	channel = radio_channel;
+		int	setting = radio_setting;
+		if (channel < 0)
+			channel = 0;
+		if (setting < 0)
+			setting = 0;
+
+		return AltosConvert.radio_to_frequency(radio_frequency,
+						       setting,
+						       radio_calibration,
+						       channel);
+	}
+
+	public int log_limit() {
+		if (storage_size > 0 && storage_erase_unit > 0) {
+			int	log_limit = storage_size - storage_erase_unit;
+			if (log_limit > 0)
+				return log_limit / 1024;
+		}
+		return 1024;
+	}
+
+	public void get_values(AltosConfigValues source) {
+
+		/* HAS_FLIGHT */
+		if (main_deploy >= 0)
+			main_deploy = source.main_deploy();
+		if (apogee_delay >= 0)
+			apogee_delay = source.apogee_delay();
+		if (apogee_lockout >= 0)
+			apogee_lockout = source.apogee_lockout();
+
+		/* HAS_RADIO */
+		if (has_frequency())
+			set_frequency(source.radio_frequency());
+		if (radio_enable >= 0)
+			radio_enable = source.radio_enable();
+		if (callsign != null)
+			callsign = source.callsign();
+		if (radio_calibration >= 0)
+			radio_calibration = source.radio_calibration();
+
+		/* HAS_ACCEL */
+		if (pad_orientation >= 0)
+			pad_orientation = source.pad_orientation();
+
+		/* HAS_LOG */
+		if (flight_log_max >= 0)
+			flight_log_max = source.flight_log_max();
+
+		/* HAS_IGNITE */
+		if (ignite_mode >= 0)
+			ignite_mode = source.ignite_mode();
+
+		/* AO_PYRO_NUM */
+		if (npyro > 0)
+			pyros = source.pyros();
+
+		if (aprs_interval >= 0)
+			aprs_interval = source.aprs_interval();
+	}
+
+	public void set_values(AltosConfigValues dest) {
+		dest.set_serial(serial);
+		dest.set_product(product);
+		dest.set_version(version);
+		dest.set_main_deploy(main_deploy);
+		dest.set_apogee_delay(apogee_delay);
+		dest.set_apogee_lockout(apogee_lockout);
+		dest.set_radio_calibration(radio_calibration);
+		dest.set_radio_frequency(frequency());
+		boolean max_enabled = true;
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TINY:
+			max_enabled = false;
+			break;
+		default:
+			if (stored_flight >= 0)
+				max_enabled = false;
+			break;
+		}
+		dest.set_flight_log_max_enabled(max_enabled);
+		dest.set_radio_enable(radio_enable);
+		dest.set_flight_log_max_limit(log_limit());
+		dest.set_flight_log_max(flight_log_max);
+		dest.set_ignite_mode(ignite_mode);
+		dest.set_pad_orientation(pad_orientation);
+		dest.set_callsign(callsign);
+		if (npyro > 0)
+			dest.set_pyros(pyros);
+		else
+			dest.set_pyros(null);
+		dest.set_aprs_interval(aprs_interval);
+	}
+
+	public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
+
+		/* HAS_FLIGHT */
+		if (main_deploy >= 0)
+			link.printf("c m %d\n", main_deploy);
+		if (apogee_delay >= 0)
+			link.printf("c d %d\n", apogee_delay);
+		if (apogee_lockout >= 0)
+			link.printf("c L %d\n", apogee_lockout);
+
+		/* Don't mess with radio calibration when remote */
+		if (radio_calibration > 0 && !remote)
+			link.printf("c f %d\n", radio_calibration);
+
+		/* HAS_RADIO */
+		if (has_frequency()) {
+			boolean has_frequency = radio_frequency >= 0;
+			boolean has_setting = radio_setting > 0;
+			double frequency = frequency();
+			link.set_radio_frequency(frequency,
+							has_frequency,
+							has_setting,
+							radio_calibration);
+			/* When remote, reset the dongle frequency at the same time */
+			if (remote) {
+				link.stop_remote();
+				link.set_radio_frequency(frequency);
+				link.start_remote();
+			}
+		}
+
+		if (callsign != null)
+			link.printf("c c %s\n", callsign);
+		if (radio_enable >= 0)
+			link.printf("c e %d\n", radio_enable);
+
+		/* HAS_ACCEL */
+		/* UI doesn't support accel cal */
+		if (pad_orientation >= 0)
+			link.printf("c o %d\n", pad_orientation);
+
+		/* HAS_LOG */
+		if (flight_log_max != 0)
+			link.printf("c l %d\n", flight_log_max);
+
+		/* HAS_IGNITE */
+		if (ignite_mode >= 0)
+			link.printf("c i %d\n", ignite_mode);
+
+		/* HAS_AES */
+		/* UI doesn't support AES key config */
+
+		/* AO_PYRO_NUM */
+		if (npyro > 0) {
+			for (int p = 0; p < pyros.length; p++) {
+				link.printf("c P %s\n",
+						   pyros[p].toString());
+			}
+		}
+
+		/* HAS_APRS */
+		if (aprs_interval >= 0)
+			link.printf("c A %d\n", aprs_interval);
+
+		link.printf("c w\n");
+		link.flush_output();
+	}
+
+	public AltosConfigData(AltosLink link) throws InterruptedException, TimeoutException {
+		reset();
+		link.printf("c s\nf\nv\n");
+		read_link(link, "software-version");
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_FULL:
+		case AltosLib.AO_LOG_FORMAT_TINY:
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+			link.printf("l\n");
+			read_link(link, "done");
+		default:
+			break;
+		}
+	}
+
+}
diff --git a/altoslib/AltosConfigValues.java b/altoslib/AltosConfigValues.java
new file mode 100644
index 00000000..027d10f4
--- /dev/null
+++ b/altoslib/AltosConfigValues.java
@@ -0,0 +1,79 @@
+/*
+ * Copyright © 2012 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_1;
+
+public interface AltosConfigValues {
+	/* set and get all of the dialog values */
+	public abstract void set_product(String product);
+
+	public abstract void set_version(String version);
+
+	public abstract void set_serial(int serial);
+
+	public abstract void set_main_deploy(int new_main_deploy);
+
+	public abstract int main_deploy();
+
+	public abstract void set_apogee_delay(int new_apogee_delay);
+
+	public abstract int apogee_delay();
+
+	public abstract void set_apogee_lockout(int new_apogee_lockout);
+
+	public abstract int apogee_lockout();
+
+	public abstract void set_radio_frequency(double new_radio_frequency);
+
+	public abstract double radio_frequency();
+
+	public abstract void set_radio_calibration(int new_radio_calibration);
+
+	public abstract int radio_calibration();
+
+	public abstract void set_radio_enable(int new_radio_enable);
+
+	public abstract int radio_enable();
+
+	public abstract void set_callsign(String new_callsign);
+
+	public abstract String callsign();
+
+	public abstract void set_flight_log_max(int new_flight_log_max);
+
+	public abstract void set_flight_log_max_enabled(boolean enable);
+
+	public abstract int flight_log_max();
+
+	public abstract void set_flight_log_max_limit(int flight_log_max_limit);
+
+	public abstract void set_ignite_mode(int new_ignite_mode);
+
+	public abstract int ignite_mode();
+
+	public abstract void set_pad_orientation(int new_pad_orientation);
+
+	public abstract int pad_orientation();
+
+	public abstract void set_pyros(AltosPyro[] new_pyros);
+
+	public abstract AltosPyro[] pyros();
+
+	public abstract int aprs_interval();
+
+	public abstract void set_aprs_interval(int new_aprs_interval);
+}
diff --git a/altoslib/AltosConvert.java b/altoslib/AltosConvert.java
index acd6c5f4..a42b36c4 100644
--- a/altoslib/AltosConvert.java
+++ b/altoslib/AltosConvert.java
@@ -18,7 +18,7 @@
 /*
  * Sensor data conversion functions
  */
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosConvert {
 	/*
@@ -258,6 +258,10 @@ public class AltosConvert {
 		return meters / 9.80665;
 	}
 
+	public static double c_to_f(double c) {
+		return c * 9/5 + 32;
+	}
+
 	public static boolean imperial_units = false;
 
 	public static AltosDistance distance = new AltosDistance();
@@ -268,6 +272,8 @@ public class AltosConvert {
 
 	public static AltosAccel accel = new AltosAccel();
 
+	public static AltosTemperature temperature = new AltosTemperature();
+
 	public static String show_gs(String format, double a) {
 		a = meters_to_g(a);
 		format = format.concat(" g");
diff --git a/altoslib/AltosDebug.java b/altoslib/AltosDebug.java
new file mode 100644
index 00000000..4d8e3ae7
--- /dev/null
+++ b/altoslib/AltosDebug.java
@@ -0,0 +1,280 @@
+/*
+ * 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_1;
+
+import java.io.*;
+
+public class AltosDebug {
+
+	public static final byte WR_CONFIG =		0x1d;
+	public static final byte RD_CONFIG =		0x24;
+	public static final byte CONFIG_TIMERS_OFF =		(1 << 3);
+	public static final byte CONFIG_DMA_PAUSE =		(1 << 2);
+	public static final byte CONFIG_TIMER_SUSPEND =		(1 << 1);
+	public static final byte SET_FLASH_INFO_PAGE =		(1 << 0);
+
+	public static final byte GET_PC	=		0x28;
+	public static final byte READ_STATUS =		0x34;
+	public static final byte STATUS_CHIP_ERASE_DONE =	(byte) (1 << 7);
+	public static final byte STATUS_PCON_IDLE =		(1 << 6);
+	public static final byte STATUS_CPU_HALTED =		(1 << 5);
+	public static final byte STATUS_POWER_MODE_0 =		(1 << 4);
+	public static final byte STATUS_HALT_STATUS =		(1 << 3);
+	public static final byte STATUS_DEBUG_LOCKED =		(1 << 2);
+	public static final byte STATUS_OSCILLATOR_STABLE =	(1 << 1);
+	public static final byte STATUS_STACK_OVERFLOW =	(1 << 0);
+
+	public static final byte SET_HW_BRKPNT =	0x3b;
+	public static byte       HW_BRKPNT_N(byte n)	{ return (byte) ((n) << 3); }
+	public static final byte HW_BRKPNT_N_MASK =		(0x3 << 3);
+	public static final byte HW_BRKPNT_ENABLE =		(1 << 2);
+
+	public static final byte HALT =			0x44;
+	public static final byte RESUME	=		0x4c;
+	public static       byte DEBUG_INSTR(byte n)	{ return (byte) (0x54|(n)); }
+	public static final byte STEP_INSTR =		0x5c;
+	public static        byte STEP_REPLACE(byte n)	{ return  (byte) (0x64|(n)); }
+	public static final byte GET_CHIP_ID =		0x68;
+
+
+	AltosLink	link;
+
+	boolean	debug_mode;
+
+	void ensure_debug_mode() {
+		if (!debug_mode) {
+			link.printf("D\n");
+			try {
+				link.flush_input();
+			} catch (InterruptedException ie) {
+			}
+			debug_mode = true;
+		}
+	}
+
+	void dump_memory(String header, int address, byte[] bytes, int start, int len) {
+		System.out.printf("%s\n", header);
+		for (int j = 0; j < len; j++) {
+			if ((j & 15) == 0) {
+				if (j != 0)
+					System.out.printf("\n");
+				System.out.printf ("%04x:", address + j);
+			}
+			System.out.printf(" %02x", bytes[start + j]);
+		}
+		System.out.printf("\n");
+	}
+
+	public void close() {
+		link.close();
+	}
+
+	/*
+	 * Write target memory
+	 */
+	public void write_memory(int address, byte[] bytes, int start, int len) {
+		ensure_debug_mode();
+//		dump_memory("write_memory", address, bytes, start, len);
+		link.printf("O %x %x\n", len, address);
+		for (int i = 0; i < len; i++)
+			link.printf("%02x", bytes[start + i]);
+	}
+
+	public void write_memory(int address, byte[] bytes) {
+		write_memory(address, bytes, 0, bytes.length);
+	}
+
+	/*
+	 * Read target memory
+	 */
+	public byte[] read_memory(int address, int length)
+		throws IOException, InterruptedException {
+		byte[]	data = new byte[length];
+
+		link.flush_input();
+		ensure_debug_mode();
+		link.printf("I %x %x\n", length, address);
+		int i = 0;
+		int start = 0;
+		while (i < length) {
+			String	line = link.get_reply().trim();
+			if (!AltosLib.ishex(line) || line.length() % 2 != 0)
+				throw new IOException(
+					String.format
+					("Invalid reply \"%s\"", line));
+			int this_time = line.length() / 2;
+			for (int j = 0; j < this_time; j++)
+				data[start + j] = (byte) ((AltosLib.fromhex(line.charAt(j*2)) << 4) +
+						  AltosLib.fromhex(line.charAt(j*2+1)));
+			start += this_time;
+			i += this_time;
+		}
+//		dump_memory("read_memory", address, data, 0, length);
+
+		return data;
+	}
+
+	/*
+	 * Write raw bytes to the debug link using the 'P' command
+	 */
+	public void write_bytes(byte[] bytes) throws IOException {
+		int i = 0;
+		ensure_debug_mode();
+		while (i < bytes.length) {
+			int this_time = bytes.length - i;
+			if (this_time > 8)
+				this_time = 0;
+			link.printf("P");
+			for (int j = 0; j < this_time; j++)
+				link.printf(" %02x", bytes[i+j]);
+			link.printf("\n");
+			i += this_time;
+		}
+	}
+
+	public void write_byte(byte b) throws IOException {
+		byte[] bytes = { b };
+		write_bytes(bytes);
+	}
+
+	/*
+	 * Read raw bytes from the debug link using the 'G' command
+	 */
+	public byte[] read_bytes(int length)
+		throws IOException, InterruptedException {
+
+		link.flush_input();
+		ensure_debug_mode();
+		link.printf("G %x\n", length);
+		int i = 0;
+		byte[] data = new byte[length];
+		while (i < length) {
+			String line = link.get_reply();
+
+			if (line == null)
+				throw new IOException("Timeout in read_bytes");
+			line = line.trim();
+			String tokens[] = line.split("\\s+");
+			for (int j = 0; j < tokens.length; j++) {
+				if (!AltosLib.ishex(tokens[j]) ||
+				    tokens[j].length() != 2)
+					throw new IOException(
+						String.format
+						("Invalid read_bytes reply \"%s\"", line));
+				try {
+					if (i + j >= length)
+						throw new IOException(
+							String.format
+							("Invalid read_bytes reply \"%s\"", line));
+					else
+						data[i + j] = (byte) Integer.parseInt(tokens[j], 16);
+				} catch (NumberFormatException ne) {
+					throw new IOException(
+						String.format
+						("Invalid read_bytes reply \"%s\"", line));
+				}
+			}
+			i += tokens.length;
+		}
+		return data;
+	}
+
+	public byte read_byte() throws IOException, InterruptedException {
+		return read_bytes(1)[0];
+	}
+
+	public byte debug_instr(byte[] instruction) throws IOException, InterruptedException {
+		byte[] command = new byte[1 + instruction.length];
+		command[0] = DEBUG_INSTR((byte) instruction.length);
+		for (int i = 0; i < instruction.length; i++)
+			command[i+1] = instruction[i];
+		write_bytes(command);
+		return read_byte();
+	}
+
+	public byte resume() throws IOException, InterruptedException {
+		write_byte(RESUME);
+		return read_byte();
+	}
+
+	public int read_uint16() throws IOException, InterruptedException {
+		byte[] d = read_bytes(2);
+		return ((int) (d[0] & 0xff) << 8) | (d[1] & 0xff);
+	}
+
+	public int read_uint8()  throws IOException, InterruptedException {
+		byte[] d = read_bytes(1);
+		return (int) (d[0] & 0xff);
+	}
+
+	public int get_chip_id() throws IOException, InterruptedException {
+		write_byte(GET_CHIP_ID);
+		return read_uint16();
+	}
+
+	public int get_pc() throws IOException, InterruptedException {
+		write_byte(GET_PC);
+		return read_uint16();
+	}
+
+	public byte read_status() throws IOException, InterruptedException {
+		write_byte(READ_STATUS);
+		return read_byte();
+	}
+
+	static final byte LJMP			= 0x02;
+
+	public void set_pc(int pc) throws IOException, InterruptedException {
+		byte high = (byte) (pc >> 8);
+		byte low = (byte) pc;
+		byte[] jump_mem = { LJMP, high, low };
+		debug_instr(jump_mem);
+	}
+
+	public boolean check_connection() throws IOException, InterruptedException {
+		byte reply = read_status();
+		if ((reply & STATUS_CHIP_ERASE_DONE) == 0)
+			return false;
+		if ((reply & STATUS_PCON_IDLE) != 0)
+			return false;
+		if ((reply & STATUS_POWER_MODE_0) == 0)
+			return false;
+		return true;
+	}
+
+	public AltosRomconfig romconfig() {
+		try {
+			byte[] bytes = read_memory(0xa0, 10);
+			return new AltosRomconfig(bytes, 0);
+		} catch (IOException ie) {
+		} catch (InterruptedException ie) {
+		}
+		return new AltosRomconfig();
+	}
+
+	/*
+	 * Reset target
+	 */
+	public void reset() {
+		link.printf ("R\n");
+	}
+
+	public AltosDebug (AltosLink link) {
+		this.link = link;
+	}
+}
\ No newline at end of file
diff --git a/altoslib/AltosDistance.java b/altoslib/AltosDistance.java
index a6026d4a..25028ac7 100644
--- a/altoslib/AltosDistance.java
+++ b/altoslib/AltosDistance.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosDistance extends AltosUnits {
 
@@ -37,13 +37,13 @@ public class AltosDistance extends AltosUnits {
 		return "meters";
 	}
 
-	int show_fraction(int width) {
+	public int show_fraction(int width) {
 		if (AltosConvert.imperial_units)
 			return width / 3;
 		return width / 9;
 	}
 
-	int say_fraction() {
+	public int say_fraction() {
 		if (AltosConvert.imperial_units)
 			return 1;
 		return 0;
diff --git a/altoslib/AltosEepromChunk.java b/altoslib/AltosEepromChunk.java
index 77b22fe2..b1bba3bb 100644
--- a/altoslib/AltosEepromChunk.java
+++ b/altoslib/AltosEepromChunk.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.text.*;
 import java.util.concurrent.*;
diff --git a/altoslib/AltosEepromIterable.java b/altoslib/AltosEepromIterable.java
index 986b7a2c..b84574ef 100644
--- a/altoslib/AltosEepromIterable.java
+++ b/altoslib/AltosEepromIterable.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.io.*;
 import java.util.*;
@@ -125,30 +125,40 @@ public class AltosEepromIterable extends AltosRecordIterable {
 			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;
+			state.gps_sequence++;
 			has_gps = true;
 			break;
 		case AltosLib.AO_LOG_GPS_LAT:
 			eeprom.seen |= AltosRecord.seen_gps_lat;
 			int lat32 = record.a | (record.b << 16);
+			if (state.gps == null)
+				state.gps = new AltosGPS();
 			state.gps.lat = (double) lat32 / 1e7;
 			break;
 		case AltosLib.AO_LOG_GPS_LON:
 			eeprom.seen |= AltosRecord.seen_gps_lon;
 			int lon32 = record.a | (record.b << 16);
+			if (state.gps == null)
+				state.gps = new AltosGPS();
 			state.gps.lon = (double) lon32 / 1e7;
 			break;
 		case AltosLib.AO_LOG_GPS_ALT:
+			if (state.gps == null)
+				state.gps = new AltosGPS();
 			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;
+				if (state.gps == null)
+					state.gps = new AltosGPS();
 				state.gps.add_sat(svid, c_n0);
 			}
 			break;
 		case AltosLib.AO_LOG_GPS_DATE:
+			if (state.gps == null)
+				state.gps = new AltosGPS();
 			state.gps.year = (record.a & 0xff) + 2000;
 			state.gps.month = record.a >> 8;
 			state.gps.day = record.b & 0xff;
diff --git a/altoslib/AltosEepromLog.java b/altoslib/AltosEepromLog.java
index 211fd706..20026c6d 100644
--- a/altoslib/AltosEepromLog.java
+++ b/altoslib/AltosEepromLog.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.text.*;
 import java.util.concurrent.*;
diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java
index 26bacf8d..b077e26c 100644
--- a/altoslib/AltosEepromMega.java
+++ b/altoslib/AltosEepromMega.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.text.*;
 
@@ -24,7 +24,7 @@ public class AltosEepromMega {
 	public int	tick;
 	public boolean	valid;
 	public String	data;
-	public int	a, b;
+	public int	config_a, config_b;
 
 	public int	data8[];
 
@@ -66,12 +66,7 @@ public class AltosEepromMega {
 	public int mag_x() { return data16(20); }
 	public int mag_y() { return data16(22); }
 	public int mag_z() { return data16(24); }
-	public int accel() {
-		int a = data16(26);
-		if (a != 0xffff)
-			return a;
-		return accel_y();
-	}
+	public int accel() { return data16(26); }
 
 	/* AO_LOG_VOLT elements */
 	public int v_batt() { return data16(0); }
@@ -79,6 +74,22 @@ public class AltosEepromMega {
 	public int nsense() { return data16(4); }
 	public int sense(int i) { return data16(6 + i * 2); }
 
+	/* AO_LOG_GPS_TIME elements */
+	public int latitude() { return data32(0); }
+	public int longitude() { return data32(4); }
+	public int altitude() { return data16(8); }
+	public int hour() { return data8(10); }
+	public int minute() { return data8(11); }
+	public int second() { return data8(12); }
+	public int flags() { return data8(13); }
+	public int year() { return data8(14); }
+	public int month() { return data8(15); }
+	public int day() { return data8(16); }
+	
+	/* AO_LOG_GPS_SAT elements */
+	public int nsat() { return data16(0); }
+	public int svid(int n) { return data8(2 + n * 2); }
+	public int c_n(int n) { return data8(2 + n * 2 + 1); }
 	public AltosEepromMega (AltosEepromChunk chunk, int start) throws ParseException {
 		cmd = chunk.data(start);
 
@@ -126,26 +137,26 @@ public class AltosEepromMega {
 					data = tokens[2];
 				} else if (tokens[0].equals("Main") && tokens[1].equals("deploy:")) {
 					cmd = AltosLib.AO_LOG_MAIN_DEPLOY;
-					a = Integer.parseInt(tokens[2]);
+					config_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]);
+					config_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]);
+					config_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]);
+					config_a = Integer.parseInt(tokens[3]);
+					config_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]);
+					config_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]);
+					config_a = Integer.parseInt(tokens[3]);
 				} else if (tokens[0].equals("manufacturer")) {
 					cmd = AltosLib.AO_LOG_MANUFACTURER;
 					data = tokens[1];
@@ -154,38 +165,38 @@ public class AltosEepromMega {
 					data = tokens[1];
 				} else if (tokens[0].equals("serial-number")) {
 					cmd = AltosLib.AO_LOG_SERIAL_NUMBER;
-					a = Integer.parseInt(tokens[1]);
+					config_a = Integer.parseInt(tokens[1]);
 				} else if (tokens[0].equals("log-format")) {
 					cmd = AltosLib.AO_LOG_LOG_FORMAT;
-					a = Integer.parseInt(tokens[1]);
+					config_a = Integer.parseInt(tokens[1]);
 				} else if (tokens[0].equals("software-version")) {
 					cmd = AltosLib.AO_LOG_SOFTWARE_VERSION;
 					data = tokens[1];
 				} else if (tokens[0].equals("ms5607")) {
 					if (tokens[1].equals("reserved:")) {
 						cmd = AltosLib.AO_LOG_BARO_RESERVED;
-						a = Integer.parseInt(tokens[2]);
+						config_a = Integer.parseInt(tokens[2]);
 					} else if (tokens[1].equals("sens:")) {
 						cmd = AltosLib.AO_LOG_BARO_SENS;
-						a = Integer.parseInt(tokens[2]);
+						config_a = Integer.parseInt(tokens[2]);
 					} else if (tokens[1].equals("off:")) {
 						cmd = AltosLib.AO_LOG_BARO_OFF;
-						a = Integer.parseInt(tokens[2]);
+						config_a = Integer.parseInt(tokens[2]);
 					} else if (tokens[1].equals("tcs:")) {
 						cmd = AltosLib.AO_LOG_BARO_TCS;
-						a = Integer.parseInt(tokens[2]);
+						config_a = Integer.parseInt(tokens[2]);
 					} else if (tokens[1].equals("tco:")) {
 						cmd = AltosLib.AO_LOG_BARO_TCO;
-						a = Integer.parseInt(tokens[2]);
+						config_a = Integer.parseInt(tokens[2]);
 					} else if (tokens[1].equals("tref:")) {
 						cmd = AltosLib.AO_LOG_BARO_TREF;
-						a = Integer.parseInt(tokens[2]);
+						config_a = Integer.parseInt(tokens[2]);
 					} else if (tokens[1].equals("tempsens:")) {
 						cmd = AltosLib.AO_LOG_BARO_TEMPSENS;
-						a = Integer.parseInt(tokens[2]);
+						config_a = Integer.parseInt(tokens[2]);
 					} else if (tokens[1].equals("crc:")) {
 						cmd = AltosLib.AO_LOG_BARO_CRC;
-						a = Integer.parseInt(tokens[2]);
+						config_a = Integer.parseInt(tokens[2]);
 					} else {
 						cmd = AltosLib.AO_LOG_INVALID;
 						data = line;
diff --git a/altoslib/AltosEepromMegaIterable.java b/altoslib/AltosEepromMegaIterable.java
index 1ab2fcc8..5736f937 100644
--- a/altoslib/AltosEepromMegaIterable.java
+++ b/altoslib/AltosEepromMegaIterable.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.io.*;
 import java.util.*;
@@ -106,80 +106,47 @@ public class AltosEepromMegaIterable extends AltosRecordIterable {
 			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.v_batt = record.v_batt();
 			state.v_pyro = record.v_pbatt();
-			for (int i = 0; i < AltosRecordMM.num_sense; i++)
+			for (int i = 0; i < record.nsense(); i++)
 				state.sense[i] = record.sense(i);
 			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.state();
 			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);
+			state.gps.lat = record.latitude() / 1e7;
+			state.gps.lon = record.longitude() / 1e7;
+			state.gps.alt = record.altitude();
+			state.gps.year = record.year() + 2000;
+			state.gps.month = record.month();
+			state.gps.day = record.day();
+
+			state.gps.hour = record.hour();
+			state.gps.minute = record.minute();
+			state.gps.second = record.second();
 
-			int flags = (record.b >> 8);
+			int flags = record.flags();
 			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;
+			state.gps_sequence++;
 			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;
+			eeprom.seen |= seen_gps_time | seen_gps_lat | seen_gps_lon;
 			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);
+				int nsat = record.nsat();
+				for (int i = 0; i < nsat; i++)
+					state.gps.add_sat(record.svid(i), record.c_n(i));
 			}
 			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:
@@ -192,8 +159,8 @@ public class AltosEepromMegaIterable extends AltosRecordIterable {
 			state.callsign = record.data;
 			break;
 		case AltosLib.AO_LOG_ACCEL_CAL:
-			state.accel_plus_g = record.a;
-			state.accel_minus_g = record.b;
+			state.accel_plus_g = record.config_a;
+			state.accel_minus_g = record.config_b;
 			break;
 		case AltosLib.AO_LOG_RADIO_CAL:
 			break;
@@ -202,33 +169,33 @@ public class AltosEepromMegaIterable extends AltosRecordIterable {
 		case AltosLib.AO_LOG_PRODUCT:
 			break;
 		case AltosLib.AO_LOG_SERIAL_NUMBER:
-			state.serial = record.a;
+			state.serial = record.config_a;
 			break;
 		case AltosLib.AO_LOG_SOFTWARE_VERSION:
 			break;
 		case AltosLib.AO_LOG_BARO_RESERVED:
-			baro.reserved = record.a;
+			baro.reserved = record.config_a;
 			break;
 		case AltosLib.AO_LOG_BARO_SENS:
-			baro.sens =record.a;
+			baro.sens =record.config_a;
 			break;
 		case AltosLib.AO_LOG_BARO_OFF:
-			baro.off =record.a;
+			baro.off =record.config_a;
 			break;
 		case AltosLib.AO_LOG_BARO_TCS:
-			baro.tcs =record.a;
+			baro.tcs =record.config_a;
 			break;
 		case AltosLib.AO_LOG_BARO_TCO:
-			baro.tco =record.a;
+			baro.tco =record.config_a;
 			break;
 		case AltosLib.AO_LOG_BARO_TREF:
-			baro.tref =record.a;
+			baro.tref =record.config_a;
 			break;
 		case AltosLib.AO_LOG_BARO_TEMPSENS:
-			baro.tempsens =record.a;
+			baro.tempsens =record.config_a;
 			break;
 		case AltosLib.AO_LOG_BARO_CRC:
-			baro.crc =record.a;
+			baro.crc =record.config_a;
 			break;
 		}
 		state.seen |= eeprom.seen;
@@ -287,25 +254,25 @@ public class AltosEepromMegaIterable extends AltosRecordIterable {
 				out.printf("# Config version: %s\n", record.data);
 				break;
 			case AltosLib.AO_LOG_MAIN_DEPLOY:
-				out.printf("# Main deploy: %s\n", record.a);
+				out.printf("# Main deploy: %s\n", record.config_a);
 				break;
 			case AltosLib.AO_LOG_APOGEE_DELAY:
-				out.printf("# Apogee delay: %s\n", record.a);
+				out.printf("# Apogee delay: %s\n", record.config_a);
 				break;
 			case AltosLib.AO_LOG_RADIO_CHANNEL:
-				out.printf("# Radio channel: %s\n", record.a);
+				out.printf("# Radio channel: %s\n", record.config_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);
+				out.printf ("# Accel cal: %d %d\n", record.config_a, record.config_b);
 				break;
 			case AltosLib.AO_LOG_RADIO_CAL:
-				out.printf ("# Radio cal: %d\n", record.a);
+				out.printf ("# Radio cal: %d\n", record.config_a);
 				break;
 			case AltosLib.AO_LOG_MAX_FLIGHT_LOG:
-				out.printf ("# Max flight log: %d\n", record.a);
+				out.printf ("# Max flight log: %d\n", record.config_a);
 				break;
 			case AltosLib.AO_LOG_MANUFACTURER:
 				out.printf ("# Manufacturer: %s\n", record.data);
@@ -314,74 +281,40 @@ public class AltosEepromMegaIterable extends AltosRecordIterable {
 				out.printf ("# Product: %s\n", record.data);
 				break;
 			case AltosLib.AO_LOG_SERIAL_NUMBER:
-				out.printf ("# Serial number: %d\n", record.a);
+				out.printf ("# Serial number: %d\n", record.config_a);
 				break;
 			case AltosLib.AO_LOG_SOFTWARE_VERSION:
 				out.printf ("# Software version: %s\n", record.data);
 				break;
 			case AltosLib.AO_LOG_BARO_RESERVED:
-				out.printf ("# Baro reserved: %d\n", record.a);
+				out.printf ("# Baro reserved: %d\n", record.config_a);
 				break;
 			case AltosLib.AO_LOG_BARO_SENS:
-				out.printf ("# Baro sens: %d\n", record.a);
+				out.printf ("# Baro sens: %d\n", record.config_a);
 				break;
 			case AltosLib.AO_LOG_BARO_OFF:
-				out.printf ("# Baro off: %d\n", record.a);
+				out.printf ("# Baro off: %d\n", record.config_a);
 				break;
 			case AltosLib.AO_LOG_BARO_TCS:
-				out.printf ("# Baro tcs: %d\n", record.a);
+				out.printf ("# Baro tcs: %d\n", record.config_a);
 				break;
 			case AltosLib.AO_LOG_BARO_TCO:
-				out.printf ("# Baro tco: %d\n", record.a);
+				out.printf ("# Baro tco: %d\n", record.config_a);
 				break;
 			case AltosLib.AO_LOG_BARO_TREF:
-				out.printf ("# Baro tref: %d\n", record.a);
+				out.printf ("# Baro tref: %d\n", record.config_a);
 				break;
 			case AltosLib.AO_LOG_BARO_TEMPSENS:
-				out.printf ("# Baro tempsens: %d\n", record.a);
+				out.printf ("# Baro tempsens: %d\n", record.config_a);
 				break;
 			case AltosLib.AO_LOG_BARO_CRC:
-				out.printf ("# Baro crc: %d\n", record.a);
+				out.printf ("# Baro crc: %d\n", record.config_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(AltosOrderedMegaRecord good, AltosOrderedMegaRecord 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
@@ -416,53 +349,11 @@ public class AltosEepromMegaIterable extends AltosRecordIterable {
 					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<AltosOrderedMegaRecord> iterator = records.iterator();
-						while (iterator.hasNext()) {
-							AltosOrderedMegaRecord 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) {
-						AltosOrderedMegaRecord add_gps_time = new AltosOrderedMegaRecord(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)
+				    record.state() == AltosLib.ao_flight_landed)
 					break;
 			}
 		} catch (IOException io) {
diff --git a/altoslib/AltosEepromRecord.java b/altoslib/AltosEepromRecord.java
index c7ced6a3..70ac1113 100644
--- a/altoslib/AltosEepromRecord.java
+++ b/altoslib/AltosEepromRecord.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.text.*;
 
diff --git a/altoslib/AltosEepromTeleScience.java b/altoslib/AltosEepromTeleScience.java
index 02ce4553..2a828cf3 100644
--- a/altoslib/AltosEepromTeleScience.java
+++ b/altoslib/AltosEepromTeleScience.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.text.*;
 
diff --git a/altoslib/AltosFile.java b/altoslib/AltosFile.java
index 1ab00b38..90dbc6db 100644
--- a/altoslib/AltosFile.java
+++ b/altoslib/AltosFile.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib; 
+package org.altusmetrum.altoslib_1; 
 
 import java.io.File;
 import java.util.*;
diff --git a/altoslib/AltosFlash.java b/altoslib/AltosFlash.java
new file mode 100644
index 00000000..010274b9
--- /dev/null
+++ b/altoslib/AltosFlash.java
@@ -0,0 +1,353 @@
+/*
+ * 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_1;
+
+import java.io.*;
+
+public class AltosFlash {
+	File			file;
+	FileInputStream		input;
+	AltosHexfile		image;
+	AltosLink		link;
+	AltosDebug		debug;
+	AltosRomconfig		rom_config;
+	boolean			aborted;
+	AltosFlashListener	listener;
+
+	static final byte MOV_direct_data	= (byte) 0x75;
+	static final byte MOV_DPTR_data16	= (byte) 0x90;
+	static final byte MOV_A_data		= (byte) 0x74;
+	static final byte MOVX_atDPTR_A		= (byte) 0xf0;
+	static final byte MOVX_A_atDPTR	        = (byte) 0xe0;
+	static final byte INC_DPTR		= (byte) 0xa3;
+	static final byte TRAP			= (byte) 0xa5;
+
+	static final byte JB			= (byte) 0x20;
+
+	static final byte MOV_A_direct		= (byte) 0xe5;
+	static final byte MOV_direct1_direct2	= (byte) 0x85;
+	static final byte MOV_direct_A		= (byte) 0xf5;
+	static final byte MOV_R0_data		= (byte) (0x78 | 0);
+	static final byte MOV_R1_data		= (byte) (0x78 | 1);
+	static final byte MOV_R2_data		= (byte) (0x78 | 2);
+	static final byte MOV_R3_data		= (byte) (0x78 | 3);
+	static final byte MOV_R4_data		= (byte) (0x78 | 4);
+	static final byte MOV_R5_data		= (byte) (0x78 | 5);
+	static final byte MOV_R6_data		= (byte) (0x78 | 6);
+	static final byte MOV_R7_data		= (byte) (0x78 | 7);
+	static final byte DJNZ_R0_rel		= (byte) (0xd8 | 0);
+	static final byte DJNZ_R1_rel		= (byte) (0xd8 | 1);
+	static final byte DJNZ_R2_rel		= (byte) (0xd8 | 2);
+	static final byte DJNZ_R3_rel		= (byte) (0xd8 | 3);
+	static final byte DJNZ_R4_rel		= (byte) (0xd8 | 4);
+	static final byte DJNZ_R5_rel		= (byte) (0xd8 | 5);
+	static final byte DJNZ_R6_rel		= (byte) (0xd8 | 6);
+	static final byte DJNZ_R7_rel		= (byte) (0xd8 | 7);
+
+	static final byte P1DIR			= (byte) 0xFE;
+	static final byte P1			= (byte) 0x90;
+
+	/* flash controller */
+	static final byte FWT			= (byte) 0xAB;
+	static final byte FADDRL		= (byte) 0xAC;
+	static final byte FADDRH		= (byte) 0xAD;
+	static final byte FCTL			= (byte) 0xAE;
+	static final byte FCTL_BUSY		= (byte) 0x80;
+	static final byte FCTL_BUSY_BIT		= (byte) 7;
+	static final byte FCTL_SWBSY		= (byte) 0x40;
+	static final byte FCTL_SWBSY_BIT	= (byte) 6;
+	static final byte FCTL_CONTRD		= (byte) 0x10;
+	static final byte FCTL_WRITE		= (byte) 0x02;
+	static final byte FCTL_ERASE		= (byte) 0x01;
+	static final byte FWDATA		= (byte) 0xAF;
+
+	static final byte ACC			= (byte) 0xE0;
+
+	/* offsets within the flash_page program */
+	static final int FLASH_ADDR_HIGH	= 8;
+	static final int FLASH_ADDR_LOW		= 11;
+	static final int RAM_ADDR_HIGH		= 13;
+	static final int RAM_ADDR_LOW		= 14;
+	static final int FLASH_WORDS_HIGH	= 16;
+	static final int FLASH_WORDS_LOW	= 18;
+	static final int FLASH_TIMING		= 21;
+
+	/* sleep mode control */
+	static final int SLEEP			= (byte) 0xbe;
+	static final int  SLEEP_USB_EN		= (byte) 0x80;
+	static final int  SLEEP_XOSC_STB	= (byte) 0x40;
+	static final int  SLEEP_HFRC_STB	= (byte) 0x20;
+	static final int  SLEEP_RST_MASK	= (byte) 0x18;
+	static final int   SLEEP_RST_POWERON	= (byte) 0x00;
+	static final int   SLEEP_RST_EXTERNAL	= (byte) 0x10;
+	static final int   SLEEP_RST_WATCHDOG	= (byte) 0x08;
+	static final int  SLEEP_OSC_PD		= (byte) 0x04;
+	static final int  SLEEP_MODE_MASK	= (byte) 0x03;
+	static final int   SLEEP_MODE_PM0	= (byte) 0x00;
+	static final int   SLEEP_MODE_PM1	= (byte) 0x01;
+	static final int   SLEEP_MODE_PM2	= (byte) 0x02;
+	static final int   SLEEP_MODE_PM3	= (byte) 0x03;
+
+	/* clock controller */
+	static final byte CLKCON		= (byte) 0xC6;
+	static final byte  CLKCON_OSC32K	= (byte) 0x80;
+	static final byte  CLKCON_OSC		= (byte) 0x40;
+	static final byte  CLKCON_TICKSPD	= (byte) 0x38;
+	static final byte  CLKCON_CLKSPD	= (byte) 0x07;
+
+	static final byte[] flash_page_proto = {
+
+		MOV_direct_data, P1DIR, (byte) 0x02,
+		MOV_direct_data, P1,	(byte) 0xFF,
+
+		MOV_direct_data, FADDRH, 0,	/* FLASH_ADDR_HIGH */
+
+		MOV_direct_data, FADDRL, 0,	/* FLASH_ADDR_LOW */
+
+		MOV_DPTR_data16, 0, 0,		/* RAM_ADDR_HIGH, RAM_ADDR_LOW */
+
+		MOV_R7_data, 0,			/* FLASH_WORDS_HIGH */
+
+		MOV_R6_data, 0,			/* FLASH_WORDS_LOW */
+
+
+		MOV_direct_data, FWT, 0x20,	/* FLASH_TIMING */
+
+		MOV_direct_data, FCTL, FCTL_ERASE,
+/* eraseWaitLoop: */
+		MOV_A_direct,		FCTL,
+		JB, ACC|FCTL_BUSY_BIT, (byte) 0xfb,
+
+		MOV_direct_data, P1, (byte) 0xfd,
+
+		MOV_direct_data, FCTL, FCTL_WRITE,
+/* writeLoop: */
+		MOV_R5_data, 2,
+/* writeWordLoop: */
+		MOVX_A_atDPTR,
+		INC_DPTR,
+		MOV_direct_A, FWDATA,
+		DJNZ_R5_rel, (byte) 0xfa,		/* writeWordLoop */
+/* writeWaitLoop: */
+		MOV_A_direct, FCTL,
+		JB, ACC|FCTL_SWBSY_BIT, (byte) 0xfb,	/* writeWaitLoop */
+		DJNZ_R6_rel, (byte) 0xf1,		/* writeLoop */
+		DJNZ_R7_rel, (byte) 0xef,			/* writeLoop */
+
+		MOV_direct_data, P1DIR, (byte) 0x00,
+		MOV_direct_data, P1,	(byte) 0xFF,
+		TRAP,
+	};
+
+	public byte[] make_flash_page(int flash_addr, int ram_addr, int byte_count) {
+		int flash_word_addr = flash_addr >> 1;
+		int flash_word_count = ((byte_count + 1) >> 1);
+
+		byte[] flash_page = new byte[flash_page_proto.length];
+		for (int i = 0; i < flash_page.length; i++)
+			flash_page[i] = flash_page_proto[i];
+
+		flash_page[FLASH_ADDR_HIGH]  = (byte) (flash_word_addr >> 8);
+		flash_page[FLASH_ADDR_LOW]   = (byte) (flash_word_addr);
+		flash_page[RAM_ADDR_HIGH]    = (byte) (ram_addr >> 8);
+		flash_page[RAM_ADDR_LOW]     = (byte) (ram_addr);
+
+		byte flash_words_low = (byte) (flash_word_count);
+		byte flash_words_high = (byte) (flash_word_count >> 8);
+		/* the flashing code has a minor 'bug' */
+		if (flash_words_low != 0)
+			flash_words_high++;
+
+		flash_page[FLASH_WORDS_HIGH] = (byte) flash_words_high;
+		flash_page[FLASH_WORDS_LOW]  = (byte) flash_words_low;
+		return flash_page;
+	}
+
+	static byte[] set_clkcon_fast = {
+		MOV_direct_data, CLKCON, 0x00
+	};
+
+	static byte[] get_sleep = {
+		MOV_A_direct, SLEEP
+	};
+
+	public void clock_init() throws IOException, InterruptedException {
+		if (debug != null) {
+			debug.debug_instr(set_clkcon_fast);
+
+			byte	status;
+			for (int times = 0; times < 20; times++) {
+				Thread.sleep(1);
+				status = debug.debug_instr(get_sleep);
+				if ((status & SLEEP_XOSC_STB) != 0)
+					return;
+			}
+			throw new IOException("Failed to initialize target clock");
+		}
+	}
+
+	void action(String s, int percent) {
+		if (listener != null && !aborted)
+			listener.position(s, percent);
+	}
+
+	void action(int part, int total) {
+		int percent = 100 * part / total;
+		action(String.format("%d/%d (%d%%)",
+				     part, total, percent),
+		       percent);
+	}
+
+	void altos_run(int pc) throws IOException, InterruptedException {
+		debug.set_pc(pc);
+		int set_pc = debug.get_pc();
+		if (pc != set_pc)
+			throw new IOException("Failed to set target program counter");
+		debug.resume();
+
+		for (int times = 0; times < 20; times++) {
+			byte status = debug.read_status();
+			if ((status & AltosDebug.STATUS_CPU_HALTED) != 0)
+				return;
+		}
+
+		throw new IOException("Failed to execute program on target");
+	}
+
+	public void flash() {
+		try {
+			if (!check_rom_config())
+				throw new IOException("Invalid rom config settings");
+			if (image.address + image.data.length > 0x8000)
+				throw new IOException(String.format("Flash image too long %d",
+								    image.address +
+								    image.data.length));
+			if ((image.address & 0x3ff) != 0)
+				throw new IOException(String.format("Flash image must start on page boundary (is 0x%x)",
+								    image.address));
+			int ram_address = 0xf000;
+			int flash_prog = 0xf400;
+
+			/*
+			 * Store desired config values into image
+			 */
+			rom_config.write(image);
+			/*
+			 * Bring up the clock
+			 */
+			clock_init();
+
+			int remain = image.data.length;
+			int flash_addr = image.address;
+			int image_start = 0;
+
+			action("start", 0);
+			action(0, image.data.length);
+			while (remain > 0 && !aborted) {
+				int this_time = remain;
+				if (this_time > 0x400)
+					this_time = 0x400;
+
+				if (debug != null) {
+					/* write the data */
+					debug.write_memory(ram_address, image.data,
+							   image_start, this_time);
+
+					/* write the flash program */
+					byte[] flash_page = make_flash_page(flash_addr,
+									    ram_address,
+									    this_time);
+					debug.write_memory(flash_prog, flash_page);
+
+					altos_run(flash_prog);
+					byte[] check = debug.read_memory(flash_addr, this_time);
+					for (int i = 0; i < this_time; i++)
+						if (check[i] != image.data[image_start + i])
+							throw new IOException(String.format("Flash write failed at 0x%x (%02x != %02x)",
+											    image.address + image_start + i,
+											    check[i], image.data[image_start + i]));
+				} else {
+					Thread.sleep(100);
+				}
+
+				remain -= this_time;
+				flash_addr += this_time;
+				image_start += this_time;
+
+				action(image.data.length - remain, image.data.length);
+			}
+			if (!aborted) {
+				action("done", 100);
+				if (debug != null) {
+					debug.set_pc(image.address);
+					debug.resume();
+				}
+			}
+			if (debug != null)
+				debug.close();
+		} catch (IOException ie) {
+			action(ie.getMessage(), -1);
+			abort();
+		} catch (InterruptedException ie) {
+			abort();
+		}
+	}
+
+	public void close() {
+		if (debug != null)
+			debug.close();
+	}
+
+	synchronized public void abort() {
+		aborted = true;
+		close();
+	}
+
+	public boolean check_rom_config() {
+		if (debug == null)
+			return true;
+		if (rom_config == null)
+			rom_config = debug.romconfig();
+		return rom_config != null && rom_config.valid();
+	}
+
+	public void set_romconfig (AltosRomconfig romconfig) {
+		rom_config = romconfig;
+	}
+
+	public AltosRomconfig romconfig() {
+		if (!check_rom_config())
+			return null;
+		return rom_config;
+	}
+
+	public AltosFlash(File file, AltosLink link, AltosFlashListener listener)
+		throws IOException, FileNotFoundException, InterruptedException {
+		this.file = file;
+		this.link = link;
+		this.listener = listener;
+		if (link != null)
+			debug = new AltosDebug(link);
+		input = new FileInputStream(file);
+		image = new AltosHexfile(input);
+		if (debug != null && !debug.check_connection()) {
+			debug.close();
+			throw new IOException("Debug port not connected");
+		}
+	}
+}
\ No newline at end of file
diff --git a/altoslib/AltosFlashListener.java b/altoslib/AltosFlashListener.java
new file mode 100644
index 00000000..ab50b74a
--- /dev/null
+++ b/altoslib/AltosFlashListener.java
@@ -0,0 +1,22 @@
+/*
+ * Copyright © 2013 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_1;
+
+public interface AltosFlashListener {
+	public void position(String label, int percent);
+}
diff --git a/altoslib/AltosFlightReader.java b/altoslib/AltosFlightReader.java
index cbd64153..34526658 100644
--- a/altoslib/AltosFlightReader.java
+++ b/altoslib/AltosFlightReader.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.text.*;
 import java.io.*;
@@ -45,4 +45,8 @@ public class AltosFlightReader {
 	public boolean supports_telemetry(int telemetry) { return false; }
 
 	public File backing_file() { return null; }
+
+	public boolean has_monitor_battery() { return false; }
+
+	public double monitor_battery() { return AltosRecord.MISSING; }
 }
diff --git a/altoslib/AltosFrequency.java b/altoslib/AltosFrequency.java
index e20f03b7..484a2fd9 100644
--- a/altoslib/AltosFrequency.java
+++ b/altoslib/AltosFrequency.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosFrequency {
 	public double	frequency;
diff --git a/altoslib/AltosGPS.java b/altoslib/AltosGPS.java
index ea0949ec..f23842f3 100644
--- a/altoslib/AltosGPS.java
+++ b/altoslib/AltosGPS.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.text.*;
 
@@ -217,33 +217,38 @@ public class AltosGPS {
 	}
 
 	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;
+		if (old != null) {
+			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;
+				}
 			}
+		} else {
+			ClearGPSTime();
+			cc_gps_sat = null;
 		}
 	}
 }
diff --git a/altoslib/AltosGPSQuery.java b/altoslib/AltosGPSQuery.java
index e93af259..deb9d201 100644
--- a/altoslib/AltosGPSQuery.java
+++ b/altoslib/AltosGPSQuery.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.util.concurrent.*;
 
diff --git a/altoslib/AltosGPSSat.java b/altoslib/AltosGPSSat.java
index faa1ec8d..8714dd8a 100644
--- a/altoslib/AltosGPSSat.java
+++ b/altoslib/AltosGPSSat.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosGPSSat {
 	public int	svid;
diff --git a/altoslib/AltosGreatCircle.java b/altoslib/AltosGreatCircle.java
index 76b71859..f1cf0ae9 100644
--- a/altoslib/AltosGreatCircle.java
+++ b/altoslib/AltosGreatCircle.java
@@ -15,13 +15,15 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.lang.Math;
 
 public class AltosGreatCircle {
 	public double	distance;
 	public double	bearing;
+	public double	range;
+	public double	elevation;
 
 	double sqr(double a) { return a * a; }
 
@@ -54,9 +56,8 @@ public class AltosGreatCircle {
 		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)
-	{
+	public AltosGreatCircle (double start_lat, double start_lon, double start_alt,
+				 double end_lat, double end_lon, double end_alt) {
 		double lat1 = rad * start_lat;
 		double lon1 = rad * -start_lon;
 		double lat2 = rad * end_lat;
@@ -88,14 +89,25 @@ public class AltosGreatCircle {
 		}
 		distance = d * earth_radius;
 		bearing = course * 180/Math.PI;
+
+		double height_diff = end_alt - start_alt;
+		range = Math.sqrt(distance * distance + height_diff * height_diff);
+		elevation = Math.atan2(height_diff, distance) * 180 / Math.PI;
+	}
+
+	public AltosGreatCircle (double start_lat, double start_lon,
+				 double end_lat, double end_lon) {
+		this(start_lat, start_lon, 0, end_lat, end_lon, 0);
 	}
 
 	public AltosGreatCircle(AltosGPS start, AltosGPS end) {
-		this(start.lat, start.lon, end.lat, end.lon);
+		this(start.lat, start.lon, start.alt, end.lat, end.lon, end.alt);
 	}
 
 	public AltosGreatCircle() {
 		distance = 0;
 		bearing = 0;
+		range = 0;
+		elevation = 0;
 	}
 }
diff --git a/altoslib/AltosHeight.java b/altoslib/AltosHeight.java
index da7ffdae..ed590812 100644
--- a/altoslib/AltosHeight.java
+++ b/altoslib/AltosHeight.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosHeight extends AltosUnits {
 
@@ -37,7 +37,7 @@ public class AltosHeight extends AltosUnits {
 		return "meters";
 	}
 
-	int show_fraction(int width) {
+	public int show_fraction(int width) {
 		return width / 9;
 	}
 }
\ No newline at end of file
diff --git a/altoslib/AltosHexfile.java b/altoslib/AltosHexfile.java
new file mode 100644
index 00000000..2140228a
--- /dev/null
+++ b/altoslib/AltosHexfile.java
@@ -0,0 +1,300 @@
+/*
+ * 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_1;
+
+import java.io.*;
+import java.util.LinkedList;
+import java.util.Arrays;
+
+class HexFileInputStream extends PushbackInputStream {
+	public int line;
+
+	public HexFileInputStream(FileInputStream o) {
+		super(new BufferedInputStream(o));
+		line = 1;
+	}
+
+	public int read() throws IOException {
+		int	c = super.read();
+		if (c == '\n')
+			line++;
+		return c;
+	}
+
+	public void unread(int c) throws IOException {
+		if (c == '\n')
+			line--;
+		if (c != -1)
+			super.unread(c);
+	}
+}
+
+class HexRecord implements Comparable<Object> {
+	public int	address;
+	public int	type;
+	public byte	checksum;
+	public byte[]	data;
+
+	static final int NORMAL = 0;
+	static final int EOF = 1;
+	static final int EXTENDED_ADDRESS = 2;
+
+	enum read_state {
+		marker,
+		length,
+		address,
+		type,
+		data,
+		checksum,
+		newline,
+		white,
+		done,
+	}
+
+	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;
+	}
+
+	boolean isspace(int c) {
+		switch (c) {
+		case ' ':
+		case '\t':
+			return true;
+		}
+		return false;
+	}
+
+	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 byte checksum() {
+		byte	got = 0;
+
+		got += data.length;
+		got += (address >> 8) & 0xff;
+		got += (address     ) & 0xff;
+		got += type;
+		for (int i = 0; i < data.length; i++)
+			got += data[i];
+		return (byte) (-got);
+	}
+
+	public int compareTo(Object other) {
+		HexRecord	o = (HexRecord) other;
+		return address - o.address;
+	}
+
+	public String toString() {
+		return String.format("%04x: %02x (%d)", address, type, data.length);
+	}
+
+	public HexRecord(HexFileInputStream input) throws IOException {
+		read_state	state = read_state.marker;
+		int		nhexbytes = 0;
+		int		hex = 0;
+		int		ndata = 0;
+		byte		got_checksum;
+
+		while (state != read_state.done) {
+			int c = input.read();
+			if (c < 0 && state != read_state.white)
+				throw new IOException(String.format("%d: Unexpected EOF", input.line));
+			if (c == ' ')
+				continue;
+			switch (state) {
+			case marker:
+				if (c != ':')
+					throw new IOException("Missing ':'");
+				state = read_state.length;
+				nhexbytes = 2;
+				hex = 0;
+				break;
+			case length:
+			case address:
+			case type:
+			case data:
+			case checksum:
+				if(!ishex(c))
+					throw new IOException(String.format("Non-hex char '%c'", c));
+				hex = hex << 4 | fromhex(c);
+				--nhexbytes;
+				if (nhexbytes != 0)
+					break;
+
+				switch (state) {
+				case length:
+					data = new byte[hex];
+					state = read_state.address;
+					nhexbytes = 4;
+					break;
+				case address:
+					address = hex;
+					state = read_state.type;
+					nhexbytes = 2;
+					break;
+				case type:
+					type = hex;
+					if (data.length > 0)
+						state = read_state.data;
+					else
+						state = read_state.checksum;
+					nhexbytes = 2;
+					ndata = 0;
+					break;
+				case data:
+					data[ndata] = (byte) hex;
+					ndata++;
+					nhexbytes = 2;
+					if (ndata == data.length)
+						state = read_state.checksum;
+					break;
+				case checksum:
+					checksum = (byte) hex;
+					state = read_state.newline;
+					break;
+				default:
+					break;
+				}
+				hex = 0;
+				break;
+			case newline:
+				if (c != '\n' && c != '\r')
+					throw new IOException("Missing newline");
+				state = read_state.white;
+				break;
+			case white:
+				if (!isspace(c)) {
+					input.unread(c);
+					state = read_state.done;
+				}
+				break;
+			case done:
+				break;
+			}
+		}
+		got_checksum = checksum();
+		if (got_checksum != checksum)
+			throw new IOException(String.format("Invalid checksum (read 0x%02x computed 0x%02x)\n",
+							    checksum, got_checksum));
+	}
+}
+
+public class AltosHexfile {
+	public int	address;
+	public byte[]	data;
+
+	public byte get_byte(int a) {
+		return data[a - address];
+	}
+
+	public AltosHexfile(FileInputStream file) throws IOException {
+		HexFileInputStream	input = new HexFileInputStream(file);
+		LinkedList<HexRecord>	record_list = new LinkedList<HexRecord>();
+		boolean			done = false;
+
+		while (!done) {
+			HexRecord	record = new HexRecord(input);
+
+			if (record.type == HexRecord.EOF)
+				done = true;
+			else
+				record_list.add(record);
+		}
+
+		long	extended_addr = 0;
+		long	base = 0;
+		long	bound = 0;
+		boolean	set = false;
+		for (HexRecord record : record_list) {
+			switch (record.type) {
+			case 0:
+				long addr = extended_addr + record.address;
+				long r_bound = addr + record.data.length;
+				if (!set || addr < base)
+					base = addr;
+				if (!set || r_bound > bound)
+					bound = r_bound;
+				set = true;
+				break;
+			case 1:
+				break;
+			case 2:
+				if (record.data.length != 2)
+					throw new IOException("invalid extended segment address record");
+				extended_addr = ((record.data[0] << 8) + (record.data[1])) << 4;
+				break;
+			case 4:
+				if (record.data.length != 2)
+					throw new IOException("invalid extended segment address record");
+				extended_addr = ((record.data[0] << 8) + (record.data[1])) << 16;
+				break;
+			default:
+				throw new IOException ("invalid hex record type");
+			}
+		}
+
+		if (!set || base >= bound)
+			throw new IOException("invalid hex file");
+
+		if (bound - base > 4 * 1024 * 1024)
+			throw new IOException("hex file too large");
+
+		data = new byte[(int) (bound - base)];
+		address = (int) base;
+		Arrays.fill(data, (byte) 0xff);
+
+		/* Paint the records into the new array */
+		for (HexRecord record : record_list) {
+			switch (record.type) {
+			case 0:
+				long addr = extended_addr + record.address;
+				long r_bound = addr + record.data.length;
+				for (int j = 0; j < record.data.length; j++)
+					data[(int) (addr - base) + j] = record.data[j];
+				break;
+			case 1:
+				break;
+			case 2:
+				if (record.data.length != 2)
+					throw new IOException("invalid extended segment address record");
+				extended_addr = ((record.data[0] << 8) + (record.data[1])) << 4;
+				break;
+			case 4:
+				if (record.data.length != 2)
+					throw new IOException("invalid extended segment address record");
+				extended_addr = ((record.data[0] << 8) + (record.data[1])) << 16;
+				break;
+			default:
+				throw new IOException ("invalid hex record type");
+			}
+		}
+	}
+}
\ No newline at end of file
diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index c0eaf139..8f6731fa 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosIMU {
 	public int		accel_x;
diff --git a/altoslib/AltosIMUQuery.java b/altoslib/AltosIMUQuery.java
index 0965fa39..4ea5d963 100644
--- a/altoslib/AltosIMUQuery.java
+++ b/altoslib/AltosIMUQuery.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.util.concurrent.TimeoutException;
 
diff --git a/altoslib/AltosIdleMonitor.java b/altoslib/AltosIdleMonitor.java
index 2c4965ff..b3ce5b20 100644
--- a/altoslib/AltosIdleMonitor.java
+++ b/altoslib/AltosIdleMonitor.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.io.*;
 import java.util.concurrent.*;
@@ -27,7 +27,9 @@ public class AltosIdleMonitor extends Thread {
 	AltosState		state;
 	boolean			remote;
 	double			frequency;
+	String			callsign;
 	AltosState		previous_state;
+	AltosListenerState	listener_state;
 	AltosConfigData		config_data;
 	AltosGPS		gps;
 
@@ -50,11 +52,11 @@ public class AltosIdleMonitor extends Thread {
 	}
 
 	boolean has_sensor_mm(AltosConfigData config_data) {
-		return config_data.product.startsWith("MegaMetrum");
+		return config_data.product.startsWith("TeleMega");
 	}
 
 	boolean has_gps(AltosConfigData config_data) {
-		return config_data.product.startsWith("TeleMetrum") || config_data.product.startsWith("MegaMetrum");
+		return config_data.product.startsWith("TeleMetrum") || config_data.product.startsWith("TeleMega");
 	}
 
 	AltosRecord sensor_mm(AltosConfigData config_data) throws InterruptedException, TimeoutException {
@@ -87,6 +89,7 @@ public class AltosIdleMonitor extends Thread {
 		try {
 			if (remote) {
 				link.set_radio_frequency(frequency);
+				link.set_callsign(callsign);
 				link.start_remote();
 			} else
 				link.flush_input();
@@ -97,7 +100,7 @@ public class AltosIdleMonitor extends Thread {
 			else if (has_sensor_mm(config_data))
 				record = sensor_mm(config_data);
 			else
-				record = new AltosRecord();
+				record = new AltosRecordNone();
 
 			if (has_gps(config_data))
 				gps = new AltosGPSQuery(link, config_data);
@@ -109,13 +112,15 @@ public class AltosIdleMonitor extends Thread {
 			record.status = 0;
 			record.state = AltosLib.ao_flight_idle;
 			record.gps = gps;
-			record.new_gps = true;
+			record.gps_sequence++;
 			state = new AltosState (record, state);
 		} finally {
 			if (remote) {
 				link.stop_remote();
-				if (record != null)
-					record.rssi = AltosRSSI();
+				if (record != null) {
+					record.rssi = link.rssi();
+					listener_state.battery = link.monitor_battery();
+				}
 			} else {
 				if (record != null)
 					record.rssi = 0;
@@ -126,10 +131,27 @@ public class AltosIdleMonitor extends Thread {
 
 	public void set_frequency(double in_frequency) {
 		frequency = in_frequency;
+		link.abort_reply();
+	}
+
+	public void set_callsign(String in_callsign) {
+		callsign = in_callsign;
+		link.abort_reply();
 	}
 
 	public void post_state() {
-		listener.update(state);
+		listener.update(state, listener_state);
+	}
+
+	public void abort() {
+		if (isAlive()) {
+			interrupt();
+			link.abort_reply();
+			try {
+				join();
+			} catch (InterruptedException ie) {
+			}
+		}
 	}
 
 	public void run() {
@@ -153,5 +175,6 @@ public class AltosIdleMonitor extends Thread {
 		link = in_link;
 		remote = in_remote;
 		state = null;
+		listener_state = new AltosListenerState();
 	}
 }
diff --git a/altoslib/AltosIdleMonitorListener.java b/altoslib/AltosIdleMonitorListener.java
index 9f9ababf..27e36dea 100644
--- a/altoslib/AltosIdleMonitorListener.java
+++ b/altoslib/AltosIdleMonitorListener.java
@@ -15,8 +15,8 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public interface AltosIdleMonitorListener {
-	public void update(AltosState state);
+	public void update(AltosState state, AltosListenerState listener_state);
 }
\ No newline at end of file
diff --git a/altoslib/AltosIgnite.java b/altoslib/AltosIgnite.java
index a48d0b69..85905900 100644
--- a/altoslib/AltosIgnite.java
+++ b/altoslib/AltosIgnite.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.io.*;
 import java.util.concurrent.*;
diff --git a/altoslib/AltosLib.java b/altoslib/AltosLib.java
index 192c445e..25d17e72 100644
--- a/altoslib/AltosLib.java
+++ b/altoslib/AltosLib.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.util.*;
 import java.io.*;
@@ -50,7 +50,7 @@ public class AltosLib {
 	public static final int AO_LOG_SERIAL_NUMBER = 2002;
 	public static final int AO_LOG_LOG_FORMAT = 2003;
 
-	/* Added for header fields in megametrum files */
+	/* Added for header fields in telemega files */
 	public static final int AO_LOG_BARO_RESERVED = 3000;
 	public static final int AO_LOG_BARO_SENS = 3001;
 	public static final int AO_LOG_BARO_OFF = 3002;
@@ -89,10 +89,11 @@ public class AltosLib {
 	public final static int product_telelco = 0x0010;
 	public final static int product_telescience = 0x0011;
 	public final static int product_telepyro =0x0012;
-	public final static int product_megametrum = 0x0023;
+	public final static int product_telemega = 0x0023;
 	public final static int product_megadongle = 0x0024;
+	public final static int product_telegps = 0x0025;
 	public final static int product_altusmetrum_min = 0x000a;
-	public final static int product_altusmetrum_max = 0x0024;
+	public final static int product_altusmetrum_max = 0x0025;
 
 	public final static int product_any = 0x10000;
 	public final static int product_basestation = 0x10000 + 1;
@@ -199,7 +200,7 @@ public class AltosLib {
 
 	public static String state_name_capital(int state) {
 		if (state < 0 || state_to_string.length <= state)
-			return "invalid";
+			return "Invalid";
 		return state_to_string_capital[state];
 	}
 
@@ -214,7 +215,7 @@ public class AltosLib {
 	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_MEGAMETRUM = 5;
+	public static final int AO_LOG_FORMAT_TELEMEGA = 5;
 	public static final int AO_LOG_FORMAT_NONE = 127;
 
 	public static boolean isspace(int c) {
@@ -405,4 +406,8 @@ public class AltosLib {
 			input = input.substring(0,dot);
 		return input.concat(extension);
 	}
+
+	public static File replace_extension(File input, String extension) {
+		return new File(replace_extension(input.getPath(), extension));
+	}
 }
diff --git a/altoslib/AltosLine.java b/altoslib/AltosLine.java
index 5627795a..b3bd20f9 100644
--- a/altoslib/AltosLine.java
+++ b/altoslib/AltosLine.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosLine {
 	public String	line;
diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java
index 6d510563..159ebfe1 100644
--- a/altoslib/AltosLink.java
+++ b/altoslib/AltosLink.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.io.*;
 import java.util.concurrent.*;
@@ -249,6 +249,7 @@ public abstract class AltosLink implements Runnable {
 	public boolean monitor_mode = false;
 	public int telemetry = AltosLib.ao_telemetry_standard;
 	public double frequency;
+	public String callsign;
 	AltosConfigData	config_data;
 
 	private int telemetry_len() {
@@ -284,8 +285,8 @@ public abstract class AltosLink implements Runnable {
 		frequency = in_frequency;
 		config_data();
 		set_radio_frequency(frequency,
-				    config_data.radio_frequency != 0,
-				    config_data.radio_setting != 0,
+				    config_data.radio_frequency > 0,
+				    config_data.radio_setting > 0,
 				    config_data.radio_calibration);
 	}
 
@@ -330,6 +331,7 @@ public abstract class AltosLink implements Runnable {
 	}
 
 	public void set_callsign(String callsign) {
+		this.callsign = callsign;
 		printf ("c c %s\n", callsign);
 		flush_output();
 	}
@@ -339,10 +341,10 @@ public abstract class AltosLink implements Runnable {
 	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);
+		if (debug)
+			System.out.printf("start remote %7.3f\n", frequency);
 		set_radio_frequency(frequency);
 		set_callsign(AltosPreferences.callsign());
 		printf("p\nE 0\n");
@@ -362,6 +364,64 @@ public abstract class AltosLink implements Runnable {
 		remote = false;
 	}
 
+	public int rssi() throws TimeoutException, InterruptedException {
+		if (remote)
+			return 0;
+		printf("s\n");
+		String line = get_reply_no_dialog(5000);
+		if (line == null)
+			throw new TimeoutException();
+		String[] items = line.split("\\s+");
+		if (items.length < 2)
+			return 0;
+		if (!items[0].equals("RSSI:"))
+			return 0;
+		int rssi = Integer.parseInt(items[1]);
+		return rssi;
+	}
+
+	public String[] adc() throws TimeoutException, InterruptedException {
+		printf("a\n");
+		for (;;) {
+			String line = get_reply_no_dialog(5000);
+			if (line == null) {
+				throw new TimeoutException();
+			}
+			if (!line.startsWith("tick:"))
+				continue;
+			String[] items = line.split("\\s+");
+			return items;
+		}
+	}
+
+	public boolean has_monitor_battery() {
+		return config_data.has_monitor_battery();
+	}
+
+	public double monitor_battery() {
+		int monitor_batt = AltosRecord.MISSING;
+
+		if (config_data.has_monitor_battery()) {
+			try {
+			String[] items = adc();
+			for (int i = 0; i < items.length;) {
+				if (items[i].equals("batt")) {
+					monitor_batt = Integer.parseInt(items[i+1]);
+					i += 2;
+					continue;
+				}
+				i++;
+			}
+			} catch (InterruptedException ie) {
+			} catch (TimeoutException te) {
+			}
+		}
+		if (monitor_batt == AltosRecord.MISSING)
+			return AltosRecord.MISSING;
+		return AltosConvert.cc_battery_to_voltage(monitor_batt);
+	}
+
 	public AltosLink() {
+		callsign = "";
 	}
 }
diff --git a/altoslib/AltosListenerState.java b/altoslib/AltosListenerState.java
new file mode 100644
index 00000000..2fb4673e
--- /dev/null
+++ b/altoslib/AltosListenerState.java
@@ -0,0 +1,28 @@
+/*
+ * Copyright © 2013 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_1;
+
+public class AltosListenerState {
+	public int	crc_errors;
+	public double	battery;
+
+	public AltosListenerState() {
+		crc_errors = 0;
+		battery = AltosRecord.MISSING;
+	}
+}
diff --git a/altoslib/AltosLog.java b/altoslib/AltosLog.java
index 3c124700..974c9f0f 100644
--- a/altoslib/AltosLog.java
+++ b/altoslib/AltosLog.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.io.*;
 import java.text.ParseException;
@@ -25,7 +25,7 @@ import java.util.concurrent.LinkedBlockingQueue;
  * This creates a thread to capture telemetry data and write it to
  * a log file
  */
-class AltosLog implements Runnable {
+public class AltosLog implements Runnable {
 
 	LinkedBlockingQueue<AltosLine>	input_queue;
 	LinkedBlockingQueue<String>	pending_queue;
@@ -45,7 +45,7 @@ class AltosLog implements Runnable {
 		}
 	}
 
-	void close() {
+	public void close() {
 		close_log_file();
 		if (log_thread != null) {
 			log_thread.interrupt();
@@ -53,7 +53,7 @@ class AltosLog implements Runnable {
 		}
 	}
 
-	File file() {
+	public File file() {
 		return file;
 	}
 
@@ -85,7 +85,7 @@ class AltosLog implements Runnable {
 					continue;
 				try {
 					AltosRecord	telem = AltosTelemetry.parse(line.line, previous);
-					if (telem.serial != 0 && telem.flight != 0 &&
+					if ((telem.seen & AltosRecord.seen_flight) != 0 &&
 					    (telem.serial != serial || telem.flight != flight || log_file == null))
 					{
 						close_log_file();
diff --git a/altoslib/AltosMag.java b/altoslib/AltosMag.java
index 0f8399ab..b3bbd92f 100644
--- a/altoslib/AltosMag.java
+++ b/altoslib/AltosMag.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosMag {
 	public int		x;
diff --git a/altoslib/AltosMs5607.java b/altoslib/AltosMs5607.java
index 268e89f6..606916b7 100644
--- a/altoslib/AltosMs5607.java
+++ b/altoslib/AltosMs5607.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosMs5607 {
 	public int	reserved;
@@ -32,6 +32,8 @@ public class AltosMs5607 {
 	public int	pa;
 	public int	cc;
 
+	static final boolean	ms5611 = false;
+
 	void convert() {
 		int	dT;
 		int TEMP;
@@ -41,20 +43,26 @@ public class AltosMs5607 {
 
 		dT = raw_temp - ((int) tref << 8);
 	
-		TEMP = (int) (2000 + (((long) dT * tempsens) >> 23));
+		TEMP = (int) (2000 + (((long) dT * (long) tempsens) >> 23));
+
+		if (ms5611) {
+			OFF = ((long) off << 16) + (((long) tco * (long) dT) >> 7);
 
-		OFF = ((long) off << 17) + (((long) tco * dT) >> 6);
+			SENS = ((long) sens << 15) + (((long) tcs * (long) dT) >> 8);
+		} else {
+			OFF = ((long) off << 17) + (((long) tco * (long) dT) >> 6);
 
-		SENS = ((long) sens << 16) + (((long) tcs * dT) >> 7);
+			SENS = ((long) sens << 16) + (((long) tcs * (long) dT) >> 7);
+		} 
 
 		if (TEMP < 2000) {
 			int	T2 = (int) (((long) dT * (long) dT) >> 31);
 			int TEMPM = TEMP - 2000;
-			long OFF2 = (61 * (long) TEMPM * (long) TEMPM) >> 4;
-			long SENS2 = 2 * (long) TEMPM * (long) TEMPM;
+			long OFF2 = ((long) 61 * (long) TEMPM * (long) TEMPM) >> 4;
+			long SENS2 = (long) 2 * (long) TEMPM * (long) TEMPM;
 			if (TEMP < 1500) {
 				int TEMPP = TEMP + 1500;
-				long TEMPP2 = TEMPP * TEMPP;
+				long TEMPP2 = (long) TEMPP * (long) TEMPP;
 				OFF2 = OFF2 + 15 * TEMPP2;
 				SENS2 = SENS2 + 8 * TEMPP2;
 			}
@@ -74,6 +82,43 @@ public class AltosMs5607 {
 		return pa;
 	}
 
+	public boolean parse_line(String line) {
+		String[] items = line.split("\\s+");
+		if (line.startsWith("Pressure:")) {
+			if (items.length >= 2)
+				raw_pres = Integer.parseInt(items[1]);
+		} else if (line.startsWith("Temperature:")) {
+			if (items.length >= 2)
+				raw_temp = Integer.parseInt(items[1]);
+		} else if (line.startsWith("ms5607 reserved:")) {
+			if (items.length >= 3)
+				reserved = Integer.parseInt(items[2]);
+		} else if (line.startsWith("ms5607 sens:")) {
+			if (items.length >= 3)
+				sens = Integer.parseInt(items[2]);
+		} else if (line.startsWith("ms5607 off:")) {
+			if (items.length >= 3)
+				off = Integer.parseInt(items[2]);
+		} else if (line.startsWith("ms5607 tcs:")) {
+			if (items.length >= 3)
+				tcs = Integer.parseInt(items[2]);
+		} else if (line.startsWith("ms5607 tco:")) {
+			if (items.length >= 3)
+				tco = Integer.parseInt(items[2]);
+		} else if (line.startsWith("ms5607 tref:")) {
+			if (items.length >= 3)
+				tref = Integer.parseInt(items[2]);
+		} else if (line.startsWith("ms5607 tempsens:")) {
+			if (items.length >= 3)
+				tempsens = Integer.parseInt(items[2]);
+		} else if (line.startsWith("ms5607 crc:")) {
+			if (items.length >= 3)
+				crc = Integer.parseInt(items[2]);
+		} else if (line.startsWith("Altitude"))
+			return false;
+		return true;
+	}
+
 	public AltosMs5607() {
 		raw_pres = AltosRecord.MISSING;
 		raw_temp = AltosRecord.MISSING;
diff --git a/altoslib/AltosMs5607Query.java b/altoslib/AltosMs5607Query.java
index 3c746795..d39dbf26 100644
--- a/altoslib/AltosMs5607Query.java
+++ b/altoslib/AltosMs5607Query.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.util.concurrent.TimeoutException;
 
@@ -27,38 +27,7 @@ class AltosMs5607Query extends AltosMs5607 {
 			if (line == null) {
 				throw new TimeoutException();
 			}
-			String[] items = line.split("\\s+");
-			if (line.startsWith("Pressure:")) {
-				if (items.length >= 2)
-					raw_pres = Integer.parseInt(items[1]);
-			} else if (line.startsWith("Temperature:")) {
-				if (items.length >= 2)
-					raw_temp = Integer.parseInt(items[1]);
-			} else if (line.startsWith("ms5607 reserved:")) {
-				if (items.length >= 3)
-					reserved = Integer.parseInt(items[2]);
-			} else if (line.startsWith("ms5607 sens:")) {
-				if (items.length >= 3)
-					sens = Integer.parseInt(items[2]);
-			} else if (line.startsWith("ms5607 off:")) {
-				if (items.length >= 3)
-					off = Integer.parseInt(items[2]);
-			} else if (line.startsWith("ms5607 tcs:")) {
-				if (items.length >= 3)
-					tcs = Integer.parseInt(items[2]);
-			} else if (line.startsWith("ms5607 tco:")) {
-				if (items.length >= 3)
-					tco = Integer.parseInt(items[2]);
-			} else if (line.startsWith("ms5607 tref:")) {
-				if (items.length >= 3)
-					tref = Integer.parseInt(items[2]);
-			} else if (line.startsWith("ms5607 tempsens:")) {
-				if (items.length >= 3)
-					tempsens = Integer.parseInt(items[2]);
-			} else if (line.startsWith("ms5607 crc:")) {
-				if (items.length >= 3)
-					crc = Integer.parseInt(items[2]);
-			} else if (line.startsWith("Altitude"))
+			if (!parse_line(line))
 				break;
 		}
 		convert();
diff --git a/altoslib/AltosOrderedMegaRecord.java b/altoslib/AltosOrderedMegaRecord.java
index 05423dd9..b20a5bbd 100644
--- a/altoslib/AltosOrderedMegaRecord.java
+++ b/altoslib/AltosOrderedMegaRecord.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.text.ParseException;
 
@@ -43,18 +43,6 @@ class AltosOrderedMegaRecord extends AltosEepromMega implements Comparable<Altos
 		index = in_index;
 	}
 
-	public AltosOrderedMegaRecord(int in_cmd, int in_tick, int in_a, int in_b, int in_index) {
-		super(in_cmd, in_tick);
-		a = in_a;
-		b = in_b;
-		index = in_index;
-	}
-
-	public String toString() {
-		return String.format("%d.%d %04x %04x %04x",
-				     cmd, index, tick, a, b);
-	}
-
 	public int compareTo(AltosOrderedMegaRecord o) {
 		int	tick_diff = tick - o.tick;
 		if (tick_diff != 0)
diff --git a/altoslib/AltosOrderedRecord.java b/altoslib/AltosOrderedRecord.java
index b4cfd8f2..63507d39 100644
--- a/altoslib/AltosOrderedRecord.java
+++ b/altoslib/AltosOrderedRecord.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.text.ParseException;
 
diff --git a/altoslib/AltosParse.java b/altoslib/AltosParse.java
index e938a177..66bbeed5 100644
--- a/altoslib/AltosParse.java
+++ b/altoslib/AltosParse.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.text.*;
 
diff --git a/altoslib/AltosPreferences.java b/altoslib/AltosPreferences.java
index 0e7b2bd3..088ca3d7 100644
--- a/altoslib/AltosPreferences.java
+++ b/altoslib/AltosPreferences.java
@@ -15,15 +15,13 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.io.*;
 import java.util.*;
-import java.util.prefs.*;
-import javax.swing.filechooser.FileSystemView;
 
 public class AltosPreferences {
-	public static Preferences preferences;
+	public static AltosPreferencesBackend backend = null;
 
 	/* logdir preference name */
 	public final static String logdirPreference = "LOGDIR";
@@ -64,6 +62,9 @@ public class AltosPreferences {
 	/* Log directory */
 	public static File logdir;
 
+	/* Last log directory - use this next time we open or save something */
+	public static File last_logdir;
+
 	/* Map directory -- hangs of logdir */
 	public static File mapdir;
 
@@ -100,13 +101,10 @@ public class AltosPreferences {
 	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;
-		}
+		existing = backend.nodeExists(common_frequencies_node_name);
+
 		if (existing) {
-			Preferences	node = preferences.node(common_frequencies_node_name);
+			AltosPreferencesBackend	node = backend.node(common_frequencies_node_name);
 			int		count = node.getInt(frequency_count, 0);
 
 			frequencies = new AltosFrequency[count];
@@ -115,7 +113,7 @@ public class AltosPreferences {
 				String	description;
 
 				frequency = node.getDouble(String.format(frequency_format, i), 0.0);
-				description = node.get(String.format(description_format, i), null);
+				description = node.getString(String.format(description_format, i), null);
 				frequencies[i] = new AltosFrequency(frequency, description);
 			}
 		} else {
@@ -129,28 +127,27 @@ public class AltosPreferences {
 	}
 
 	public static void save_common_frequencies(AltosFrequency[] frequencies) {
-		Preferences	node = preferences.node(common_frequencies_node_name);
+		AltosPreferencesBackend	node = backend.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);
+			node.putString(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");
+	public static void init(AltosPreferencesBackend in_backend) {
+		backend = in_backend;
 
 		/* Initialize logdir from preferences */
-		String logdir_string = preferences.get(logdirPreference, null);
+		String logdir_string = backend.getString(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);
+			logdir = new File(backend.homeDirectory(), logdirName);
 			if (!logdir.exists())
 				logdir.mkdirs();
 		}
@@ -162,17 +159,17 @@ public class AltosPreferences {
 
 		telemetries = new Hashtable<Integer,Integer>();
 
-		voice = preferences.getBoolean(voicePreference, true);
+		voice = backend.getBoolean(voicePreference, true);
 
-		callsign = preferences.get(callsignPreference,"N0CALL");
+		callsign = backend.getString(callsignPreference,"N0CALL");
 
-		scanning_telemetry = preferences.getInt(scanningTelemetryPreference,(1 << AltosLib.ao_telemetry_standard));
+		scanning_telemetry = backend.getInt(scanningTelemetryPreference,(1 << AltosLib.ao_telemetry_standard));
 
-		launcher_serial = preferences.getInt(launcherSerialPreference, 0);
+		launcher_serial = backend.getInt(launcherSerialPreference, 0);
 
-		launcher_channel = preferences.getInt(launcherChannelPreference, 0);
+		launcher_channel = backend.getInt(launcherChannelPreference, 0);
 
-		String firmwaredir_string = preferences.get(firmwaredirPreference, null);
+		String firmwaredir_string = backend.getString(firmwaredirPreference, null);
 		if (firmwaredir_string != null)
 			firmwaredir = new File(firmwaredir_string);
 		else
@@ -180,65 +177,69 @@ public class AltosPreferences {
 
 		common_frequencies = load_common_frequencies();
 
-		AltosConvert.imperial_units = preferences.getBoolean(unitsPreference, false);
+		AltosConvert.imperial_units = backend.getBoolean(unitsPreference, false);
 	}
 
-	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");
-		}
+		backend.flush();
 	}
 
 	public static void set_logdir(File new_logdir) {
-		synchronized (preferences) {
+		synchronized (backend) {
 			logdir = new_logdir;
 			mapdir = new File(logdir, "maps");
 			if (!mapdir.exists())
 				mapdir.mkdirs();
-			preferences.put(logdirPreference, logdir.getPath());
+			backend.putString(logdirPreference, logdir.getPath());
 			flush_preferences();
 		}
 	}
 
 	public static File logdir() {
-		synchronized (preferences) {
+		synchronized (backend) {
 			return logdir;
 		}
 	}
 
+	public static File last_logdir() {
+		synchronized (backend) {
+			if (last_logdir == null)
+				last_logdir = logdir;
+			return last_logdir;
+		}
+	}
+
+	public static void set_last_logdir(File file) {
+		synchronized(backend) {
+			if (file != null && !file.isDirectory())
+				file = file.getParentFile();
+			if (file == null)
+				file = new File(".");
+			last_logdir = file;
+		}
+	}
+
 	public static File mapdir() {
-		synchronized (preferences) {
+		synchronized (backend) {
 			return mapdir;
 		}
 	}
 
 	public static void set_frequency(int serial, double new_frequency) {
-		synchronized (preferences) {
+		synchronized (backend) {
 			frequencies.put(serial, new_frequency);
-			preferences.putDouble(String.format(frequencyPreferenceFormat, serial), new_frequency);
+			backend.putDouble(String.format(frequencyPreferenceFormat, serial), new_frequency);
 			flush_preferences();
 		}
 	}
 
 	public static double frequency(int serial) {
-		synchronized (preferences) {
+		synchronized (backend) {
 			if (frequencies.containsKey(serial))
 				return frequencies.get(serial);
-			double frequency = preferences.getDouble(String.format(frequencyPreferenceFormat, serial), 0);
+			double frequency = backend.getDouble(String.format(frequencyPreferenceFormat, serial), 0);
 			if (frequency == 0.0) {
-				int channel = preferences.getInt(String.format(channelPreferenceFormat, serial), 0);
+				int channel = backend.getInt(String.format(channelPreferenceFormat, serial), 0);
 				frequency = AltosConvert.radio_channel_to_frequency(channel);
 			}
 			frequencies.put(serial, frequency);
@@ -247,122 +248,122 @@ public class AltosPreferences {
 	}
 
 	public static void set_telemetry(int serial, int new_telemetry) {
-		synchronized (preferences) {
+		synchronized (backend) {
 			telemetries.put(serial, new_telemetry);
-			preferences.putInt(String.format(telemetryPreferenceFormat, serial), new_telemetry);
+			backend.putInt(String.format(telemetryPreferenceFormat, serial), new_telemetry);
 			flush_preferences();
 		}
 	}
 
 	public static int telemetry(int serial) {
-		synchronized (preferences) {
+		synchronized (backend) {
 			if (telemetries.containsKey(serial))
 				return telemetries.get(serial);
-			int telemetry = preferences.getInt(String.format(telemetryPreferenceFormat, serial),
-							   AltosLib.ao_telemetry_standard);
+			int telemetry = backend.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) {
-		synchronized (preferences) {
+		synchronized (backend) {
 			scanning_telemetry = new_scanning_telemetry;
-			preferences.putInt(scanningTelemetryPreference, scanning_telemetry);
+			backend.putInt(scanningTelemetryPreference, scanning_telemetry);
 			flush_preferences();
 		}
 	}
 
 	public static int scanning_telemetry() {
-		synchronized (preferences) {
+		synchronized (backend) {
 			return scanning_telemetry;
 		}
 	}
 
 	public static void set_voice(boolean new_voice) {
-		synchronized (preferences) {
+		synchronized (backend) {
 			voice = new_voice;
-			preferences.putBoolean(voicePreference, voice);
+			backend.putBoolean(voicePreference, voice);
 			flush_preferences();
 		}
 	}
 
 	public static boolean voice() {
-		synchronized (preferences) {
+		synchronized (backend) {
 			return voice;
 		}
 	}
 
 	public static void set_callsign(String new_callsign) {
-		synchronized(preferences) {
+		synchronized(backend) {
 			callsign = new_callsign;
-			preferences.put(callsignPreference, callsign);
+			backend.putString(callsignPreference, callsign);
 			flush_preferences();
 		}
 	}
 
 	public static String callsign() {
-		synchronized(preferences) {
+		synchronized(backend) {
 			return callsign;
 		}
 	}
 
 	public static void set_firmwaredir(File new_firmwaredir) {
-		synchronized (preferences) {
+		synchronized (backend) {
 			firmwaredir = new_firmwaredir;
-			preferences.put(firmwaredirPreference, firmwaredir.getPath());
+			backend.putString(firmwaredirPreference, firmwaredir.getPath());
 			flush_preferences();
 		}
 	}
 
 	public static File firmwaredir() {
-		synchronized (preferences) {
+		synchronized (backend) {
 			return firmwaredir;
 		}
 	}
 
 	public static void set_launcher_serial(int new_launcher_serial) {
-		synchronized (preferences) {
+		synchronized (backend) {
 			launcher_serial = new_launcher_serial;
-			preferences.putInt(launcherSerialPreference, launcher_serial);
+			backend.putInt(launcherSerialPreference, launcher_serial);
 			flush_preferences();
 		}
 	}
 
 	public static int launcher_serial() {
-		synchronized (preferences) {
+		synchronized (backend) {
 			return launcher_serial;
 		}
 	}
 
 	public static void set_launcher_channel(int new_launcher_channel) {
-		synchronized (preferences) {
+		synchronized (backend) {
 			launcher_channel = new_launcher_channel;
-			preferences.putInt(launcherChannelPreference, launcher_channel);
+			backend.putInt(launcherChannelPreference, launcher_channel);
 			flush_preferences();
 		}
 	}
 
 	public static int launcher_channel() {
-		synchronized (preferences) {
+		synchronized (backend) {
 			return launcher_channel;
 		}
 	}
 	
-	public static Preferences bt_devices() {
-		synchronized (preferences) {
-			return preferences.node("bt_devices");
+	public static AltosPreferencesBackend bt_devices() {
+		synchronized (backend) {
+			return backend.node("bt_devices");
 		}
 	}
 
 	public static AltosFrequency[] common_frequencies() {
-		synchronized (preferences) {
+		synchronized (backend) {
 			return common_frequencies;
 		}
 	}
 
 	public static void set_common_frequencies(AltosFrequency[] frequencies) {
-		synchronized(preferences) {
+		synchronized(backend) {
 			common_frequencies = frequencies;
 			save_common_frequencies(frequencies);
 			flush_preferences();
@@ -387,17 +388,38 @@ public class AltosPreferences {
 		set_common_frequencies(new_frequencies);
 	}
 
+	static LinkedList<AltosUnitsListener> units_listeners;
+
 	public static boolean imperial_units() {
-		synchronized(preferences) {
+		synchronized(backend) {
 			return AltosConvert.imperial_units;
 		}
 	}
 
 	public static void set_imperial_units(boolean imperial_units) {
-		synchronized (preferences) {
+		synchronized (backend) {
 			AltosConvert.imperial_units = imperial_units;
-			preferences.putBoolean(unitsPreference, imperial_units);
+			backend.putBoolean(unitsPreference, imperial_units);
 			flush_preferences();
 		}
+		if (units_listeners != null) {
+			for (AltosUnitsListener l : units_listeners) {
+				l.units_changed(imperial_units);
+			}
+		}
+	}
+
+	public static void register_units_listener(AltosUnitsListener l) {
+		synchronized(backend) {
+			if (units_listeners == null)
+				units_listeners = new LinkedList<AltosUnitsListener>();
+			units_listeners.add(l);
+		}
+	}
+
+	public static void unregister_units_listener(AltosUnitsListener l) {
+		synchronized(backend) {
+			units_listeners.remove(l);
+		}
 	}
 }
diff --git a/altoslib/AltosPreferencesBackend.java b/altoslib/AltosPreferencesBackend.java
new file mode 100644
index 00000000..fb8a235a
--- /dev/null
+++ b/altoslib/AltosPreferencesBackend.java
@@ -0,0 +1,45 @@
+/*
+ * Copyright © 2010 Mike Beattie <mike@ethernal.org>
+ *
+ * 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_1;
+
+import java.io.File;
+
+public interface AltosPreferencesBackend {
+
+	public String  getString(String key, String def);
+	public void    putString(String key, String value);
+
+	public int     getInt(String key, int def);
+	public void    putInt(String key, int value);
+
+	public double  getDouble(String key, double def);
+	public void    putDouble(String key, double value);
+
+	public boolean getBoolean(String key, boolean def);
+	public void    putBoolean(String key, boolean value);
+
+	public boolean nodeExists(String key);
+	public AltosPreferencesBackend node(String key);
+
+	public String[] keys();
+	public void    remove(String key);
+
+	public void    flush();
+
+	public File homeDirectory();
+}
diff --git a/altoslib/AltosPyro.java b/altoslib/AltosPyro.java
new file mode 100644
index 00000000..4dbb4223
--- /dev/null
+++ b/altoslib/AltosPyro.java
@@ -0,0 +1,293 @@
+/*
+ * Copyright © 2012 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_1;
+
+import java.util.*;
+import java.text.*;
+import java.util.concurrent.*;
+
+public class AltosPyro {
+	public static final int pyro_none			= 0x00000000;
+
+	public static final int pyro_accel_less			= 0x00000001;
+	public static final int pyro_accel_greater		= 0x00000002;
+	public static final String pyro_accel_less_string	= "a<";
+	public static final String pyro_accel_greater_string	= "a>";
+	public static final String pyro_accel_less_name		= "Acceleration less than (m/s²)";
+	public static final String pyro_accel_greater_name	= "Acceleration greater than (m/s²)";
+	public static final double pyro_accel_scale		= 16.0;
+
+	public static final int pyro_speed_less			= 0x00000004;
+	public static final int pyro_speed_greater		= 0x00000008;
+	public static final String pyro_speed_less_string	= "s<";
+	public static final String pyro_speed_greater_string	= "s>";
+	public static final String pyro_speed_less_name		= "Speed less than (m/s)";
+	public static final String pyro_speed_greater_name	= "Speed greater than (m/s)";
+	public static final double pyro_speed_scale		= 16.0;
+
+	public static final int pyro_height_less		= 0x00000010;
+	public static final int pyro_height_greater		= 0x00000020;
+	public static final String pyro_height_less_string	= "h<";
+	public static final String pyro_height_greater_string	= "h>";
+	public static final String pyro_height_less_name	= "Height less than (m)";
+	public static final String pyro_height_greater_name	= "Height greater than (m)";
+	public static final double pyro_height_scale		= 1.0;
+
+	public static final int pyro_orient_less		= 0x00000040;
+	public static final int pyro_orient_greater		= 0x00000080;
+	public static final String pyro_orient_less_string	= "o<";
+	public static final String pyro_orient_greater_string	= "o>";
+	public static final String pyro_orient_less_name	= "Angle from vertical less than (degrees)";
+	public static final String pyro_orient_greater_name	= "Angle from vertical greater than (degrees)";
+	public static final double pyro_orient_scale		= 1.0;
+
+	public static final int pyro_time_less			= 0x00000100;
+	public static final int pyro_time_greater		= 0x00000200;
+	public static final String pyro_time_less_string	= "t<";
+	public static final String pyro_time_greater_string	= "t>";
+	public static final String pyro_time_less_name		= "Time since boost less than (s)";
+	public static final String pyro_time_greater_name	= "Time since boost greater than (s)";
+	public static final double pyro_time_scale		= 100.0;
+
+	public static final int pyro_ascending			= 0x00000400;
+	public static final int pyro_descending			= 0x00000800;
+	public static final String pyro_ascending_string	= "A";
+	public static final String pyro_descending_string	= "D";
+	public static final String pyro_ascending_name		= "Ascending";
+	public static final String pyro_descending_name		= "Descending";
+
+	public static final int pyro_after_motor		= 0x00001000;
+	public static final String pyro_after_motor_string	= "m";
+	public static final String pyro_after_motor_name	= "After motor number";
+	public static final double pyro_after_motor_scale	= 1.0;
+
+	public static final int pyro_delay			= 0x00002000;
+	public static final String pyro_delay_string		= "d";
+	public static final String pyro_delay_name		= "Delay after other conditions (s)";
+	public static final double pyro_delay_scale		= 100.0;
+
+	public static final int pyro_state_less			= 0x00004000;
+	public static final int pyro_state_greater_or_equal  	= 0x00008000;
+	public static final String pyro_state_less_string	= "f<";
+	public static final String pyro_state_greater_or_equal_string	= "f>=";
+	public static final String pyro_state_less_name		= "Flight state before";
+	public static final String pyro_state_greater_or_equal_name	= "Flight state after";
+	public static final double pyro_state_scale		= 1.0;
+
+	public static final int	pyro_all			= 0x0000ffff;
+
+	public static final int pyro_no_value			= (pyro_ascending |
+								   pyro_descending);
+
+	public static final int pyro_state_value		= pyro_state_less | pyro_state_greater_or_equal;
+
+	private static HashMap<String,Integer> string_to_pyro = new HashMap<String,Integer>();
+
+	private static HashMap<Integer,String> pyro_to_string = new HashMap<Integer,String>();
+
+	private static HashMap<Integer,String> pyro_to_name = new HashMap<Integer,String>();
+
+	private static HashMap<Integer,Double> pyro_to_scale = new HashMap<Integer,Double>();
+	
+	private static void insert_map(int flag, String string, String name, double scale) {
+		string_to_pyro.put(string, flag);
+		pyro_to_string.put(flag, string);
+		pyro_to_name.put(flag, name);
+		pyro_to_scale.put(flag, scale);
+	}
+	
+	public static int string_to_pyro(String name) {
+		if (string_to_pyro.containsKey(name))
+			return string_to_pyro.get(name);
+		return pyro_none;
+	}
+
+	public static String pyro_to_string(int flag) {
+		if (pyro_to_string.containsKey(flag))
+			return pyro_to_string.get(flag);
+		return null;
+	}
+
+	public static String pyro_to_name(int flag) {
+		if (pyro_to_name.containsKey(flag))
+			return pyro_to_name.get(flag);
+		return null;
+	}
+
+	public static double pyro_to_scale(int flag) {
+		if (pyro_to_scale.containsKey(flag))
+			return pyro_to_scale.get(flag);
+		return 1.0;
+	}
+
+	private static void initialize_maps() {
+		insert_map(pyro_accel_less, pyro_accel_less_string, pyro_accel_less_name, pyro_accel_scale);
+		insert_map(pyro_accel_greater, pyro_accel_greater_string, pyro_accel_greater_name, pyro_accel_scale);
+
+		insert_map(pyro_speed_less, pyro_speed_less_string, pyro_speed_less_name, pyro_speed_scale);
+		insert_map(pyro_speed_greater, pyro_speed_greater_string, pyro_speed_greater_name, pyro_speed_scale);
+
+		insert_map(pyro_height_less, pyro_height_less_string, pyro_height_less_name, pyro_height_scale);
+		insert_map(pyro_height_greater, pyro_height_greater_string, pyro_height_greater_name, pyro_height_scale);
+
+		insert_map(pyro_orient_less, pyro_orient_less_string, pyro_orient_less_name, pyro_orient_scale);
+		insert_map(pyro_orient_greater, pyro_orient_greater_string, pyro_orient_greater_name, pyro_orient_scale);
+
+		insert_map(pyro_time_less, pyro_time_less_string, pyro_time_less_name, pyro_time_scale);
+		insert_map(pyro_time_greater, pyro_time_greater_string, pyro_time_greater_name, pyro_time_scale);
+
+		insert_map(pyro_ascending, pyro_ascending_string, pyro_ascending_name, 1.0);
+		insert_map(pyro_descending, pyro_descending_string, pyro_descending_name, 1.0);
+
+		insert_map(pyro_after_motor, pyro_after_motor_string, pyro_after_motor_name, 1.0);
+		insert_map(pyro_delay, pyro_delay_string, pyro_delay_name, pyro_delay_scale);
+		
+		insert_map(pyro_state_less, pyro_state_less_string, pyro_state_less_name, 1.0);
+		insert_map(pyro_state_greater_or_equal, pyro_state_greater_or_equal_string, pyro_state_greater_or_equal_name, 1.0);
+	}
+
+	{
+		initialize_maps();
+	}
+
+	public int	channel;
+	public int	flags;
+	public int	accel_less, accel_greater;
+	public int	speed_less, speed_greater;
+	public int	height_less, height_greater;
+	public int	orient_less, orient_greater;
+	public int	time_less, time_greater;
+	public int	delay;
+	public int	state_less, state_greater_or_equal;
+	public int	motor;
+
+	public AltosPyro(int in_channel) {
+		channel = in_channel;
+		flags = 0;
+	}
+
+	private boolean set_ivalue(int flag, int value) {
+		switch (flag) {
+		case pyro_accel_less:			accel_less = value; break;
+		case pyro_accel_greater:		accel_greater = value; break;
+		case pyro_speed_less:			speed_less = value; break;
+		case pyro_speed_greater:		speed_greater = value; break;
+		case pyro_height_less:			height_less = value; break;
+		case pyro_height_greater:		height_greater = value; break;
+		case pyro_orient_less:			orient_less = value; break;
+		case pyro_orient_greater:		orient_greater = value; break;
+		case pyro_time_less:			time_less = value; break;
+		case pyro_time_greater:			time_greater = value; break;
+		case pyro_after_motor:			motor = value; break;
+		case pyro_delay:			delay = value; break;
+		case pyro_state_less:			state_less = value; break;
+		case pyro_state_greater_or_equal:	state_greater_or_equal = value; break;
+		default:
+			return false;
+		}
+		return true;
+	}
+
+	public boolean set_value(int flag, double dvalue) {
+		return set_ivalue(flag, (int) (dvalue * pyro_to_scale(flag)));
+	}
+
+	private int get_ivalue (int flag) {
+		int	value;
+
+		switch (flag) {
+		case pyro_accel_less:			value = accel_less; break;
+		case pyro_accel_greater:		value = accel_greater; break;
+		case pyro_speed_less:			value = speed_less; break;
+		case pyro_speed_greater:		value = speed_greater; break;
+		case pyro_height_less:			value = height_less; break;
+		case pyro_height_greater:		value = height_greater; break;
+		case pyro_orient_less:			value = orient_less; break;
+		case pyro_orient_greater:		value = orient_greater; break;
+		case pyro_time_less:			value = time_less; break;
+		case pyro_time_greater:			value = time_greater; break;
+		case pyro_after_motor:			value = motor; break;
+		case pyro_delay:			value = delay; break;
+		case pyro_state_less:			value = state_less; break;
+		case pyro_state_greater_or_equal:	value = state_greater_or_equal; break;
+		default:				value = 0; break;
+		}
+		return value;
+	}
+
+	public double get_value(int flag) {
+		return get_ivalue(flag) / pyro_to_scale(flag);
+	}
+
+	public AltosPyro(int in_channel, String line) throws ParseException {
+		String[] tokens = line.split("\\s+");
+
+		channel = in_channel;
+		flags = 0;
+
+		int i = 0;
+		if (tokens[i].equals("Pyro"))
+			i += 2;
+
+		for (; i < tokens.length; i++) {
+
+			if (tokens[i].equals("<disabled>"))
+				break;
+
+			int	flag = string_to_pyro(tokens[i]);
+			if (flag == pyro_none)
+				throw new ParseException(String.format("Invalid pyro token \"%s\"",
+								       tokens[i]), i);
+			flags |= flag;
+
+			if ((flag & pyro_no_value) == 0) {
+				int	value = 0;
+				++i;
+				try {
+					value = AltosLib.fromdec(tokens[i]);
+				} catch (NumberFormatException n) {
+					throw new ParseException(String.format("Invalid pyro value \"%s\"",
+									       tokens[i]), i);
+				}
+				if (!set_ivalue(flag, value))
+					throw new ParseException(String.format("Internal parser error \"%s\" \"%s\"",
+									       tokens[i-1], tokens[i]), i-1);
+			}
+		}
+	}
+
+	public String toString() {
+		String	ret = String.format("%d", channel);
+
+		for (int flag = 1; flag <= flags; flag <<= 1) {
+			if ((flags & flag) != 0) {
+				String	add;
+				if ((flag & pyro_no_value) == 0) {
+					add = String.format(" %s %d",
+							    pyro_to_string.get(flag),
+							    get_ivalue(flag));
+				} else {
+					add = String.format(" %s",
+							    pyro_to_string.get(flag));
+				}
+				ret = ret.concat(add);
+			}
+		}
+		return ret;
+	}
+}
diff --git a/altoslib/AltosRecord.java b/altoslib/AltosRecord.java
index 8bab1d0c..5e4ed927 100644
--- a/altoslib/AltosRecord.java
+++ b/altoslib/AltosRecord.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosRecord implements Comparable <AltosRecord>, Cloneable {
 
@@ -43,13 +43,8 @@ public class AltosRecord implements Comparable <AltosRecord>, Cloneable {
 	public int	state;
 	public int	tick;
 
-	/* Current flight dynamic state */
-	public double	acceleration;	/* m/s² */
-	public double	speed;		/* m/s */
-	public double	height;		/* m */
-
 	public AltosGPS	gps;
-	public boolean	new_gps;
+	public int	gps_sequence;
 
 	public double	time;	/* seconds since boost */
 
@@ -63,6 +58,11 @@ public class AltosRecord implements Comparable <AltosRecord>, Cloneable {
 
 	public AltosRecordCompanion companion;
 
+	/* Telemetry sources have these values recorded from the flight computer */
+	public double	kalman_height;
+	public double	kalman_speed;
+	public double	kalman_acceleration;
+
 	/*
 	 * Abstract methods that convert record data
 	 * to standard units:
@@ -75,76 +75,48 @@ public class AltosRecord implements Comparable <AltosRecord>, Cloneable {
 	 *	temperature:	°C
 	 */
 
-	public double raw_pressure() { return MISSING; }
-
-	public double filtered_pressure() { return MISSING; }
-
+	public double pressure() { return MISSING; }
 	public double ground_pressure() { return MISSING; }
-
-	public double battery_voltage() { return MISSING; }
-
-	public double main_voltage() { return MISSING; }
-
-	public double drogue_voltage() { return MISSING; }
-
-	public double temperature() { return MISSING; }
-	
 	public double acceleration() { return MISSING; }
 
-	public double accel_speed() { return MISSING; }
-
-	public AltosIMU imu() { return null; }
-
-	public AltosMag mag() { return null; }
+	public double altitude() {
+		double	p = pressure();
 
-	/*
-	 * Convert various pressure values to altitude
-	 */
-
-	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();
+		double	p = ground_pressure();
+
 		if (p == MISSING)
 			return MISSING;
 		return AltosConvert.pressure_to_altitude(p);
 	}
 
-	public double filtered_altitude() {
-		double	ga = ground_altitude();
-		if (height != MISSING && ga != MISSING)
-			return height + ga;
+	public double height() {
+		double	g = ground_altitude();
+		double	a = altitude();
 
-		double	p = filtered_pressure();
-		if (p == MISSING)
-			return raw_altitude();
-		return AltosConvert.pressure_to_altitude(p);
+		if (g == MISSING)
+			return MISSING;
+		if (a == MISSING)
+			return MISSING;
+		return a - g;
 	}
 
-	public double filtered_height() {
-		if (height != MISSING)
-			return height;
+	public double battery_voltage() { return MISSING; }
 
-		double f = filtered_altitude();
-		double g = ground_altitude();
-		if (f == MISSING || g == MISSING)
-			return MISSING;
-		return f - g;
-	}
+	public double main_voltage() { return MISSING; }
 
-	public double raw_height() {
-		double r = raw_altitude();
-		double g = ground_altitude();
+	public double drogue_voltage() { return MISSING; }
 
-		if (r == MISSING || g == MISSING)
-			return height;
-		return r - g;
-	}
+	public double temperature() { return MISSING; }
+	
+	public AltosIMU imu() { return null; }
+
+	public AltosMag mag() { return null; }
 
 	public String state() {
 		return AltosLib.state_name(state);
@@ -154,6 +126,12 @@ public class AltosRecord implements Comparable <AltosRecord>, Cloneable {
 		return tick - o.tick;
 	}
 
+	public AltosRecord clone() {
+		AltosRecord n = new AltosRecord();
+		n.copy(this);
+		return n;
+	}
+
 	public void copy(AltosRecord old) {
 		seen = old.seen;
 		version = old.version;
@@ -164,39 +142,30 @@ public class AltosRecord implements Comparable <AltosRecord>, Cloneable {
 		status = old.status;
 		state = old.state;
 		tick = old.tick;
-		acceleration = old.acceleration;
-		speed = old.speed;
-		height = old.height;
 		gps = new AltosGPS(old.gps);
-		new_gps = old.new_gps;
+		gps_sequence = old.gps_sequence;
 		companion = old.companion;
-	}
-
-	public AltosRecord clone() {
-		try {
-			AltosRecord n = (AltosRecord) super.clone();
-			n.copy(this);
-			return n;
-		} catch (CloneNotSupportedException e) {
-			return null;
-		}
+		kalman_acceleration = old.kalman_acceleration;
+		kalman_speed = old.kalman_speed;
+		kalman_height = old.kalman_height;
 	}
 
 	public AltosRecord() {
 		seen = 0;
 		version = 0;
 		callsign = "N0CALL";
-		serial = 0;
-		flight = 0;
+		serial = MISSING;
+		flight = MISSING;
 		rssi = 0;
 		status = 0;
 		state = AltosLib.ao_flight_startup;
 		tick = 0;
-		acceleration = MISSING;
-		speed = MISSING;
-		height = MISSING;
-		gps = new AltosGPS();
-		new_gps = false;
+		gps = null;
+		gps_sequence = 0;
 		companion = null;
+
+		kalman_acceleration = MISSING;
+		kalman_speed = MISSING;
+		kalman_height = MISSING;
 	}
 }
diff --git a/altoslib/AltosRecordCompanion.java b/altoslib/AltosRecordCompanion.java
index c8cc6cac..b153fb5b 100644
--- a/altoslib/AltosRecordCompanion.java
+++ b/altoslib/AltosRecordCompanion.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosRecordCompanion {
 	public final static int	board_id_telescience = 0x0a;
diff --git a/altoslib/AltosRecordIterable.java b/altoslib/AltosRecordIterable.java
index ed1787ed..62dbdfe3 100644
--- a/altoslib/AltosRecordIterable.java
+++ b/altoslib/AltosRecordIterable.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.io.*;
 import java.util.*;
diff --git a/altoslib/AltosRecordMM.java b/altoslib/AltosRecordMM.java
index 5f952f7a..bf64192c 100644
--- a/altoslib/AltosRecordMM.java
+++ b/altoslib/AltosRecordMM.java
@@ -15,10 +15,11 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosRecordMM extends AltosRecord {
 
+	/* Sensor values */
 	public int	accel;
 	public int	pres;
 	public int	temp;
@@ -45,16 +46,12 @@ public class AltosRecordMM extends AltosRecord {
 		return raw / 4095.0;
 	}
 
-	public double raw_pressure() {
+	public double pressure() {
 		if (pres != MISSING)
 			return pres;
 		return MISSING;
 	}
 
-	public double filtered_pressure() {
-		return raw_pressure();
-	}
-
 	public double ground_pressure() {
 		if (ground_pres != MISSING)
 			return ground_pres;
@@ -98,9 +95,6 @@ public class AltosRecordMM extends AltosRecord {
 	}
 
 	public double acceleration() {
-		if (acceleration != MISSING)
-			return acceleration;
-
 		if (ground_accel == MISSING || accel == MISSING)
 			return MISSING;
 
@@ -110,10 +104,6 @@ public class AltosRecordMM extends AltosRecord {
 		return (ground_accel - accel) / accel_counts_per_mss();
 	}
 
-	public double accel_speed() {
-		return speed;
-	}
-
 	public void copy (AltosRecordMM old) {
 		super.copy(old);
 
@@ -141,10 +131,10 @@ public class AltosRecordMM extends AltosRecord {
 		mag = old.mag;
 	}
 
+
+
 	public AltosRecordMM clone() {
-		AltosRecordMM n = (AltosRecordMM) super.clone();
-		n.copy(this);
-		return n;
+		return new AltosRecordMM(this);
 	}
 
 	void make_missing() {
@@ -177,6 +167,10 @@ public class AltosRecordMM extends AltosRecord {
 		make_missing();
 	}
 
+	public AltosRecordMM(AltosRecordMM old) {
+		copy(old);
+	}
+
 	public AltosRecordMM() {
 		super();
 		make_missing();
diff --git a/altoslib/AltosRecordNone.java b/altoslib/AltosRecordNone.java
new file mode 100644
index 00000000..a95b6a9c
--- /dev/null
+++ b/altoslib/AltosRecordNone.java
@@ -0,0 +1,38 @@
+/*
+ * Copyright © 2012 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_1;
+
+public class AltosRecordNone extends AltosRecord {
+
+	public double pressure() { return MISSING; }
+	public double ground_pressure() { return MISSING; }
+	public double temperature() { return MISSING; }
+	public double acceleration() { return MISSING; }
+
+	public AltosRecordNone(AltosRecord old) {
+		super.copy(old);
+	}
+
+	public AltosRecordNone clone() {
+		return new AltosRecordNone(this);
+	}
+
+	public AltosRecordNone() {
+		super();
+	}
+}
diff --git a/altoslib/AltosRecordTM.java b/altoslib/AltosRecordTM.java
index 37accef6..c6cf3646 100644
--- a/altoslib/AltosRecordTM.java
+++ b/altoslib/AltosRecordTM.java
@@ -15,9 +15,11 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosRecordTM extends AltosRecord {
+
+	/* Sensor values */
 	public int	accel;
 	public int	pres;
 	public int	temp;
@@ -57,18 +59,12 @@ public class AltosRecordTM extends AltosRecord {
 		return ((count / 16.0) / 2047.0 + 0.095) / 0.009 * 1000.0;
 	}
 
-	public double raw_pressure() {
+	public double 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;
@@ -121,22 +117,11 @@ public class AltosRecordTM extends AltosRecord {
 	}
 
 	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 void copy(AltosRecordTM old) {
 		super.copy(old);
 
@@ -164,9 +149,7 @@ public class AltosRecordTM extends AltosRecord {
 	}
 
 	public AltosRecordTM clone() {
-		AltosRecordTM	n = (AltosRecordTM) super.clone();
-		n.copy(this);
-		return n;
+		return new AltosRecordTM(this);
 	}
 
 	void make_missing() {
@@ -192,6 +175,10 @@ public class AltosRecordTM extends AltosRecord {
 		make_missing();
 	}
 
+	public AltosRecordTM(AltosRecordTM old) {
+		copy(old);
+	}
+	
 	public AltosRecordTM() {
 		super();
 		make_missing();
diff --git a/altoslib/AltosReplayReader.java b/altoslib/AltosReplayReader.java
index 50bef07a..a7e30370 100644
--- a/altoslib/AltosReplayReader.java
+++ b/altoslib/AltosReplayReader.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.io.*;
 import java.util.*;
diff --git a/altoslib/AltosRomconfig.java b/altoslib/AltosRomconfig.java
new file mode 100644
index 00000000..0800a2c4
--- /dev/null
+++ b/altoslib/AltosRomconfig.java
@@ -0,0 +1,148 @@
+/*
+ * 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_1;
+
+import java.io.*;
+
+public class AltosRomconfig {
+	public boolean	valid;
+	public int	version;
+	public int	check;
+	public int	serial_number;
+	public int	radio_calibration;
+
+	static int get_int(byte[] bytes, int start, int len) {
+		int	v = 0;
+		int	o = 0;
+		while (len > 0) {
+			v = v | ((((int) bytes[start]) & 0xff) << o);
+			start++;
+			len--;
+			o += 8;
+		}
+		return v;
+	}
+
+	static void put_int(int value, byte[] bytes, int start, int len) {
+		while (len > 0) {
+			bytes[start] = (byte) (value & 0xff);
+			start++;
+			len--;
+			value >>= 8;
+		}
+	}
+
+	static void put_string(String value, byte[] bytes, int start) {
+		for (int i = 0; i < value.length(); i++)
+			bytes[start + i] = (byte) value.charAt(i);
+	}
+
+	static final int AO_USB_DESC_STRING	= 3;
+
+	static void put_usb_serial(int value, byte[] bytes, int start) {
+		int offset = start + 0xa;
+		int string_num = 0;
+
+		while (offset < bytes.length && bytes[offset] != 0) {
+			if (bytes[offset + 1] == AO_USB_DESC_STRING) {
+				++string_num;
+				if (string_num == 4)
+					break;
+			}
+			offset += ((int) bytes[offset]) & 0xff;
+		}
+		if (offset >= bytes.length || bytes[offset] == 0)
+			return;
+		int len = ((((int) bytes[offset]) & 0xff) - 2) / 2;
+		String fmt = String.format("%%0%dd", len);
+
+		String s = String.format(fmt, value);
+		if (s.length() != len) {
+			System.out.printf("weird usb length issue %s isn't %d\n",
+					  s, len);
+			return;
+		}
+		for (int i = 0; i < len; i++) {
+			bytes[offset + 2 + i*2] = (byte) s.charAt(i);
+			bytes[offset + 2 + i*2+1] = 0;
+		}
+	}
+
+	public AltosRomconfig(byte[] bytes, int offset) {
+		version = get_int(bytes, offset + 0, 2);
+		check = get_int(bytes, offset + 2, 2);
+		if (check == (~version & 0xffff)) {
+			switch (version) {
+			case 2:
+			case 1:
+				serial_number = get_int(bytes, offset + 4, 2);
+				radio_calibration = get_int(bytes, offset + 6, 4);
+				valid = true;
+				break;
+			}
+		}
+	}
+
+	public AltosRomconfig(AltosHexfile hexfile) {
+		this(hexfile.data, 0xa0 - hexfile.address);
+	}
+
+	public void write(byte[] bytes, int offset) throws IOException {
+		if (!valid)
+			throw new IOException("rom configuration invalid");
+
+		if (offset < 0 || bytes.length < offset + 10)
+			throw new IOException("image cannot contain rom config");
+
+		AltosRomconfig existing = new AltosRomconfig(bytes, offset);
+		if (!existing.valid)
+			throw new IOException("image does not contain existing rom config");
+
+		switch (existing.version) {
+		case 2:
+			put_usb_serial(serial_number, bytes, offset);
+		case 1:
+			put_int(serial_number, bytes, offset + 4, 2);
+			put_int(radio_calibration, bytes, offset + 6, 4);
+			break;
+		}
+	}
+
+	public void write (AltosHexfile hexfile) throws IOException {
+		write(hexfile.data, 0xa0 - hexfile.address);
+		AltosRomconfig check = new AltosRomconfig(hexfile);
+		if (!check.valid())
+			throw new IOException("writing new rom config failed\n");
+	}
+
+	public AltosRomconfig(int in_serial_number, int in_radio_calibration) {
+		valid = true;
+		version = 1;
+		check = (~version & 0xffff);
+		serial_number = in_serial_number;
+		radio_calibration = in_radio_calibration;
+	}
+
+	public boolean valid() {
+		return valid && serial_number != 0;
+	}
+
+	public AltosRomconfig() {
+		valid = false;
+	}
+}
diff --git a/altoslib/AltosSensorMM.java b/altoslib/AltosSensorMM.java
index b6f21ef0..6d1b61c0 100644
--- a/altoslib/AltosSensorMM.java
+++ b/altoslib/AltosSensorMM.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.util.concurrent.TimeoutException;
 
@@ -28,75 +28,65 @@ class AltosSensorMM {
 	int		accel_ref;
 
 	public AltosSensorMM(AltosLink link) throws InterruptedException, TimeoutException {
-		link.printf("a\n");
-		for (;;) {
-			String line = link.get_reply_no_dialog(5000);
-			if (line == null) {
-				throw new TimeoutException();
+		String[] items = link.adc();
+		sense = new int[6];
+		for (int i = 0; i < items.length;) {
+			if (items[i].equals("tick:")) {
+				tick = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("0:")) {
+				sense[0] = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("1:")) {
+				sense[1] = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("2:")) {
+				sense[2] = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("3:")) {
+				sense[3] = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("4:")) {
+				sense[4] = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("5:")) {
+				sense[5] = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("6:")) {
+				v_batt = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("7:")) {
+				v_pyro = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("8:")) {
+				accel = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
 			}
-			if (!line.startsWith("tick:"))
+			if (items[i].equals("9:")) {
+				accel_ref = Integer.parseInt(items[i+1]);
+				i += 2;
 				continue;
-			String[] items = line.split("\\s+");
-			sense = new int[6];
-			for (int i = 0; i < items.length;) {
-				if (items[i].equals("tick:")) {
-					tick = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("0:")) {
-					sense[0] = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("1:")) {
-					sense[1] = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("2:")) {
-					sense[2] = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("3:")) {
-					sense[3] = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("4:")) {
-					sense[4] = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("5:")) {
-					sense[5] = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("6:")) {
-					v_batt = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("7:")) {
-					v_pyro = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("8:")) {
-					accel = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("9:")) {
-					accel_ref = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				i++;
 			}
-			break;
+			i++;
 		}
 	}
 }
diff --git a/altoslib/AltosSensorTM.java b/altoslib/AltosSensorTM.java
index 75158cbf..754dc5bb 100644
--- a/altoslib/AltosSensorTM.java
+++ b/altoslib/AltosSensorTM.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.util.concurrent.TimeoutException;
 
@@ -23,54 +23,44 @@ class AltosSensorTM extends AltosRecordTM {
 
 	public AltosSensorTM(AltosLink link, AltosConfigData config_data) throws InterruptedException, TimeoutException {
 		super();
-		link.printf("a\n");
-		for (;;) {
-			String line = link.get_reply_no_dialog(5000);
-			if (line == null) {
-				throw new TimeoutException();
+		String[] items = link.adc();
+		for (int i = 0; i < items.length;) {
+			if (items[i].equals("tick:")) {
+				tick = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("accel:")) {
+				accel = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("pres:")) {
+				pres = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("temp:")) {
+				temp = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("batt:")) {
+				batt = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("drogue:")) {
+				drogue = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
 			}
-			if (!line.startsWith("tick:"))
+			if (items[i].equals("main:")) {
+				main = Integer.parseInt(items[i+1]);
+				i += 2;
 				continue;
-			String[] items = line.split("\\s+");
-			for (int i = 0; i < items.length;) {
-				if (items[i].equals("tick:")) {
-					tick = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("accel:")) {
-					accel = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("pres:")) {
-					pres = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("temp:")) {
-					temp = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("batt:")) {
-					batt = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("drogue:")) {
-					drogue = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				if (items[i].equals("main:")) {
-					main = Integer.parseInt(items[i+1]);
-					i += 2;
-					continue;
-				}
-				i++;
 			}
-			break;
+			i++;
 		}
 		ground_accel = config_data.accel_cal_plus;
 		ground_pres = pres;
diff --git a/altoslib/AltosSpeed.java b/altoslib/AltosSpeed.java
index af63ed17..6fb624fb 100644
--- a/altoslib/AltosSpeed.java
+++ b/altoslib/AltosSpeed.java
@@ -15,29 +15,29 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosSpeed extends AltosUnits {
 
 	public double value(double v) {
 		if (AltosConvert.imperial_units)
-			return AltosConvert.meters_to_feet(v);
+			return AltosConvert.meters_to_mph(v);
 		return v;
 	}
 
 	public String show_units() {
 		if (AltosConvert.imperial_units)
-			return "ft/s";
+			return "mph";
 		return "m/s";
 	}
 
 	public String say_units() {
 		if (AltosConvert.imperial_units)
-			return "feet per second";
+			return "miles per hour";
 		return "meters per second";
 	}
 
-	int show_fraction(int width) {
+	public int show_fraction(int width) {
 		return width / 9;
 	}
 }
\ No newline at end of file
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 2e4d8870..825306be 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -19,7 +19,7 @@
  * Track flight state from telemetry or eeprom data stream
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosState {
 	public AltosRecord data;
@@ -40,20 +40,21 @@ public class AltosState {
 	public double	ground_altitude;
 	public double	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	accel_speed;
 	public double	baro_speed;
 
 	public double	max_height;
 	public double	max_acceleration;
-	public double	max_speed;
+	public double	max_accel_speed;
 	public double	max_baro_speed;
 
 	public AltosGPS	gps;
+	public int gps_sequence;
 
 	public AltosIMU	imu;
 	public AltosMag	mag;
@@ -76,20 +77,50 @@ public class AltosState {
 	public int	speak_tick;
 	public double	speak_altitude;
 
-	public void init (AltosRecord cur, AltosState prev_state) {
-		//int		i;
-		//AltosRecord prev;
+	public double speed() {
+		if (ascent)
+			return accel_speed;
+		else
+			return baro_speed;
+	}
+
+	public double max_speed() {
+		if (max_accel_speed != 0)
+			return max_accel_speed;
+		return max_baro_speed;
+	}
 
+	public void init (AltosRecord cur, AltosState prev_state) {
 		data = cur;
 
+		/* Discard previous state if it was for a different board */
+		if (prev_state != null && prev_state.data.serial != data.serial)
+			prev_state = null;
 		ground_altitude = data.ground_altitude();
-		altitude = data.raw_altitude();
-		height = data.filtered_height();
+
+		altitude = data.altitude();
+		if (altitude == AltosRecord.MISSING && data.gps != null)
+			altitude = data.gps.alt;
+
+		height = AltosRecord.MISSING;
+		if (data.kalman_height != AltosRecord.MISSING)
+			height = data.kalman_height;
+		else {
+			if (altitude != AltosRecord.MISSING && ground_altitude != AltosRecord.MISSING) {
+				double	cur_height = altitude - ground_altitude;
+				if (prev_state == null || prev_state.height == AltosRecord.MISSING)
+					height = cur_height;
+				else
+					height = (prev_state.height * 15 + cur_height) / 16.0;
+			}
+		}
 
 		report_time = System.currentTimeMillis();
 
-		acceleration = data.acceleration();
-		speed = data.accel_speed();
+		if (data.kalman_acceleration != AltosRecord.MISSING)
+			acceleration = data.kalman_acceleration;
+		else
+			acceleration = data.acceleration();
 		temperature = data.temperature();
 		drogue_sense = data.drogue_voltage();
 		main_sense = data.main_voltage();
@@ -103,12 +134,13 @@ public class AltosState {
 			npad = prev_state.npad;
 			ngps = prev_state.ngps;
 			gps = prev_state.gps;
+			gps_sequence = prev_state.gps_sequence;
 			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_accel_speed = prev_state.max_accel_speed;
 			max_baro_speed = prev_state.max_baro_speed;
 			imu = prev_state.imu;
 			mag = prev_state.mag;
@@ -119,28 +151,58 @@ public class AltosState {
 
 			time_change = (tick - prev_state.tick) / 100.0;
 
-			/* compute barometric speed */
+			if (data.kalman_speed != AltosRecord.MISSING) {
+				baro_speed = accel_speed = data.kalman_speed;
+			} else {
+				/* compute barometric speed */
+
+				double height_change = height - prev_state.height;
+
+				double prev_baro_speed = prev_state.baro_speed;
+				if (prev_baro_speed == AltosRecord.MISSING)
+					prev_baro_speed = 0;
 
-			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;
+					baro_speed = (prev_baro_speed * 3 + (height_change / time_change)) / 4.0;
 				else
 					baro_speed = prev_state.baro_speed;
+
+				double prev_accel_speed = prev_state.accel_speed;
+
+				if (prev_accel_speed == AltosRecord.MISSING)
+					prev_accel_speed = 0;
+
+				if (acceleration == AltosRecord.MISSING) {
+					/* Fill in mising acceleration value */
+					accel_speed = baro_speed;
+
+					if (time_change > 0 && accel_speed != AltosRecord.MISSING)
+						acceleration = (accel_speed - prev_accel_speed) / time_change;
+					else
+						acceleration = prev_state.acceleration;
+				} else {
+					/* compute accelerometer speed */
+					accel_speed = prev_accel_speed + acceleration * time_change;
+				}
 			}
 		} else {
 			npad = 0;
 			ngps = 0;
 			gps = null;
-			baro_speed = 0;
+			gps_sequence = 0;
+			baro_speed = AltosRecord.MISSING;
+			accel_speed = AltosRecord.MISSING;
+			pad_alt = AltosRecord.MISSING;
+			max_baro_speed = 0;
+			max_accel_speed = 0;
+			max_height = 0;
+			max_acceleration = 0;
 			time_change = 0;
 		}
 
 		time = tick / 100.0;
 
-		if (cur.new_gps && (state == AltosLib.ao_flight_pad || state == AltosLib.ao_flight_idle)) {
+		if (data.gps != null && data.gps_sequence != gps_sequence && (state < AltosLib.ao_flight_boost)) {
 
 			/* Track consecutive 'good' gps reports, waiting for 10 of them */
 			if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)
@@ -150,7 +212,7 @@ public class AltosState {
 
 			/* Average GPS data while on the pad */
 			if (data.gps != null && data.gps.locked && data.gps.nsat >= 4) {
-				if (ngps > 1) {
+				if (ngps > 1 && state == AltosLib.ao_flight_pad) {
 					/* 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;
@@ -162,10 +224,12 @@ public class AltosState {
 				}
 				ngps++;
 			}
-		} else
-			pad_alt = ground_altitude;
+		} else {
+			if (ngps == 0 && ground_altitude != AltosRecord.MISSING)
+				pad_alt = ground_altitude;
+		}
 
-		data.new_gps = false;
+		gps_sequence = data.gps_sequence;
 
 		gps_waiting = MIN_PAD_SAMPLES - npad;
 		if (gps_waiting < 0)
@@ -178,32 +242,29 @@ public class AltosState {
 		boost = (AltosLib.ao_flight_boost == state);
 
 		/* Only look at accelerometer data under boost */
-		if (boost && acceleration > max_acceleration && acceleration != AltosRecord.MISSING)
+		if (boost && acceleration != AltosRecord.MISSING && (max_acceleration == AltosRecord.MISSING || acceleration > max_acceleration))
 			max_acceleration = acceleration;
-		if (boost && speed > max_speed && speed != AltosRecord.MISSING)
-			max_speed = speed;
-		if (boost && baro_speed > max_baro_speed && baro_speed != AltosRecord.MISSING)
+		if (boost && accel_speed != AltosRecord.MISSING && accel_speed > max_accel_speed)
+			max_accel_speed = accel_speed;
+		if (boost && baro_speed != AltosRecord.MISSING && baro_speed > max_baro_speed)
 			max_baro_speed = baro_speed;
 
-		if (height > max_height && height != AltosRecord.MISSING)
+		if (height != AltosRecord.MISSING && 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);
+		gps_height = 0;
+		if (data.gps != null) {
+			gps = data.gps;
+			if (ngps > 0 && gps.locked) {
+				double h = height;
+
+				if (h == AltosRecord.MISSING) h = 0;
+				from_pad = new AltosGreatCircle(pad_lat, pad_lon, 0, gps.lat, gps.lon, h);
+				elevation = from_pad.elevation;
+				range = from_pad.range;
+				gps_height = gps.alt - pad_alt;
 			}
-		} else {
-			gps_height = 0;
 		}
 	}
 
diff --git a/altoslib/AltosTelemetry.java b/altoslib/AltosTelemetry.java
index 15534158..e7322349 100644
--- a/altoslib/AltosTelemetry.java
+++ b/altoslib/AltosTelemetry.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.text.*;
 
diff --git a/altoslib/AltosTelemetryIterable.java b/altoslib/AltosTelemetryIterable.java
index e95c15e0..57033638 100644
--- a/altoslib/AltosTelemetryIterable.java
+++ b/altoslib/AltosTelemetryIterable.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.io.*;
 import java.util.*;
diff --git a/altoslib/AltosTelemetryMap.java b/altoslib/AltosTelemetryMap.java
index bc1486d8..7cca98b0 100644
--- a/altoslib/AltosTelemetryMap.java
+++ b/altoslib/AltosTelemetryMap.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 import java.text.*;
 import java.util.HashMap;
 
diff --git a/altoslib/AltosTelemetryReader.java b/altoslib/AltosTelemetryReader.java
index 94fa560b..b4293c73 100644
--- a/altoslib/AltosTelemetryReader.java
+++ b/altoslib/AltosTelemetryReader.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.text.*;
 import java.io.*;
@@ -107,6 +107,14 @@ public class AltosTelemetryReader extends AltosFlightReader {
 		return log.file();
 	}
 
+	public boolean has_monitor_battery() {
+		return link.has_monitor_battery();
+	}
+
+	public double monitor_battery() {
+		return link.monitor_battery();
+	}
+
 	public AltosTelemetryReader (AltosLink in_link)
 		throws IOException, InterruptedException, TimeoutException {
 		link = in_link;
diff --git a/altoslib/AltosTelemetryRecord.java b/altoslib/AltosTelemetryRecord.java
index 6a8cfd35..fdc3c88e 100644
--- a/altoslib/AltosTelemetryRecord.java
+++ b/altoslib/AltosTelemetryRecord.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 import java.text.*;
 
 public abstract class AltosTelemetryRecord {
@@ -80,25 +80,25 @@ public abstract class AltosTelemetryRecord {
 				r = new AltosTelemetryRecordSensor(bytes, rssi);
 				break;
 			case packet_type_configuration:
-				r = new AltosTelemetryRecordConfiguration(bytes);
+				r = new AltosTelemetryRecordConfiguration(bytes, rssi);
 				break;
 			case packet_type_location:
-				r = new AltosTelemetryRecordLocation(bytes);
+				r = new AltosTelemetryRecordLocation(bytes, rssi);
 				break;
 			case packet_type_satellite:
-				r = new AltosTelemetryRecordSatellite(bytes);
+				r = new AltosTelemetryRecordSatellite(bytes, rssi);
 				break;
 			case packet_type_companion:
-				r = new AltosTelemetryRecordCompanion(bytes);
+				r = new AltosTelemetryRecordCompanion(bytes, rssi);
 				break;
 			case packet_type_MM_sensor:
 				r = new AltosTelemetryRecordMegaSensor(bytes, rssi);
 				break;
 			case packet_type_MM_data:
-				r = new AltosTelemetryRecordMegaData(bytes);
+				r = new AltosTelemetryRecordMegaData(bytes, rssi);
 				break;
 			default:
-				r = new AltosTelemetryRecordRaw(bytes);
+				r = new AltosTelemetryRecordRaw(bytes, rssi);
 				break;
 			}
 			break;
diff --git a/altoslib/AltosTelemetryRecordCompanion.java b/altoslib/AltosTelemetryRecordCompanion.java
index 6ad17244..2231df13 100644
--- a/altoslib/AltosTelemetryRecordCompanion.java
+++ b/altoslib/AltosTelemetryRecordCompanion.java
@@ -15,14 +15,14 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosTelemetryRecordCompanion extends AltosTelemetryRecordRaw {
 
 	AltosRecordCompanion	companion;
 
-	public AltosTelemetryRecordCompanion(int[] in_bytes) {
-		super(in_bytes);
+	public AltosTelemetryRecordCompanion(int[] in_bytes, int rssi) {
+		super(in_bytes, rssi);
 
 		int	off = 0;
 		if (uint8(6) == 0)
diff --git a/altoslib/AltosTelemetryRecordConfiguration.java b/altoslib/AltosTelemetryRecordConfiguration.java
index 25242edc..47fc3488 100644
--- a/altoslib/AltosTelemetryRecordConfiguration.java
+++ b/altoslib/AltosTelemetryRecordConfiguration.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 
 public class AltosTelemetryRecordConfiguration extends AltosTelemetryRecordRaw {
@@ -29,8 +29,8 @@ public class AltosTelemetryRecordConfiguration extends AltosTelemetryRecordRaw {
 	String	callsign;
 	String	version;
 
-	public AltosTelemetryRecordConfiguration(int[] in_bytes) {
-		super(in_bytes);
+	public AltosTelemetryRecordConfiguration(int[] in_bytes, int rssi) {
+		super(in_bytes, rssi);
 
 		device_type    = uint8(5);
 		flight         = uint16(6);
diff --git a/altoslib/AltosTelemetryRecordGeneral.java b/altoslib/AltosTelemetryRecordGeneral.java
index a53280cf..08cd6065 100644
--- a/altoslib/AltosTelemetryRecordGeneral.java
+++ b/altoslib/AltosTelemetryRecordGeneral.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.text.*;
 
diff --git a/altoslib/AltosTelemetryRecordLegacy.java b/altoslib/AltosTelemetryRecordLegacy.java
index 21176069..f2d3f868 100644
--- a/altoslib/AltosTelemetryRecordLegacy.java
+++ b/altoslib/AltosTelemetryRecordLegacy.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 import java.text.*;
 
@@ -257,9 +257,9 @@ public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord {
 		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.kalman_acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, AltosRecord.MISSING, 1/16.0);
+		record.kalman_speed = map.get_double(AO_TELEM_KALMAN_SPEED, AltosRecord.MISSING, 1/16.0);
+		record.kalman_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);
@@ -267,7 +267,7 @@ public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord {
 
 		if (map.has(AO_TELEM_GPS_STATE)) {
 		record.gps = new AltosGPS(map);
-		record.new_gps = true;
+		record.gps_sequence++;
 		}
 		else
 		record.gps = null;
@@ -334,9 +334,9 @@ public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord {
 
 		/* 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.kalman_speed = ((short) record.flight_vel) / 16.0;
+			record.kalman_acceleration = record.flight_accel / 16.0;
+			record.kalman_height = record.flight_pres;
 			record.flight_vel = AltosRecord.MISSING;
 			record.flight_pres = AltosRecord.MISSING;
 			record.flight_accel = AltosRecord.MISSING;
@@ -357,7 +357,7 @@ public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord {
 		}
 
 		record.gps = new AltosGPS(words, i, record.version);
-		record.new_gps = true;
+		record.gps_sequence++;
 	}
 
 	public AltosTelemetryRecordLegacy(String line) throws ParseException, AltosCRCException {
@@ -455,9 +455,9 @@ public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord {
 		record.accel_minus_g = int16(19);
 
 		if (uint16(11) == 0x8000) {
-			record.acceleration = int16(5);
-			record.speed = int16(9);
-			record.height = int16(13);
+			record.kalman_acceleration = int16(5);
+			record.kalman_speed = int16(9);
+			record.kalman_height = int16(13);
 			record.flight_accel = AltosRecord.MISSING;
 			record.flight_vel = AltosRecord.MISSING;
 			record.flight_pres = AltosRecord.MISSING;
@@ -465,9 +465,9 @@ public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord {
 			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.kalman_acceleration = AltosRecord.MISSING;
+			record.kalman_speed = AltosRecord.MISSING;
+			record.kalman_height = AltosRecord.MISSING;
 		}
 
 		record.gps = null;
@@ -476,7 +476,7 @@ public class AltosTelemetryRecordLegacy extends AltosTelemetryRecord {
 
 		if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) {
 			record.gps = new AltosGPS();
-			record.new_gps = true;
+			record.gps_sequence++;
 
 			record.seen |= AltosRecord.seen_gps_time | AltosRecord.seen_gps_lat | AltosRecord.seen_gps_lon;
 			record.gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK);
diff --git a/altoslib/AltosTelemetryRecordLocation.java b/altoslib/AltosTelemetryRecordLocation.java
index cddb773d..0236d291 100644
--- a/altoslib/AltosTelemetryRecordLocation.java
+++ b/altoslib/AltosTelemetryRecordLocation.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 
 public class AltosTelemetryRecordLocation extends AltosTelemetryRecordRaw {
@@ -37,8 +37,8 @@ public class AltosTelemetryRecordLocation extends AltosTelemetryRecordRaw {
 	int	climb_rate;
 	int	course;
 
-	public AltosTelemetryRecordLocation(int[] in_bytes) {
-		super(in_bytes);
+	public AltosTelemetryRecordLocation(int[] in_bytes, int rssi) {
+		super(in_bytes, rssi);
 
 		flags          = uint8(5);
 		altitude       = int16(6);
@@ -85,7 +85,7 @@ public class AltosTelemetryRecordLocation extends AltosTelemetryRecordRaw {
 			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;
+			next.gps_sequence++;
 		}
 
 		return next;
diff --git a/altoslib/AltosTelemetryRecordMegaData.java b/altoslib/AltosTelemetryRecordMegaData.java
index 8f55d238..a484ef4e 100644
--- a/altoslib/AltosTelemetryRecordMegaData.java
+++ b/altoslib/AltosTelemetryRecordMegaData.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 
 public class AltosTelemetryRecordMegaData extends AltosTelemetryRecordRaw {
@@ -35,8 +35,8 @@ public class AltosTelemetryRecordMegaData extends AltosTelemetryRecordRaw {
 	int	speed;
 	int	height;
 
-	public AltosTelemetryRecordMegaData(int[] in_bytes) {
-		super(in_bytes);
+	public AltosTelemetryRecordMegaData(int[] in_bytes, int rssi) {
+		super(in_bytes, rssi);
 
 		state = int8(5);
 
@@ -83,11 +83,11 @@ public class AltosTelemetryRecordMegaData extends AltosTelemetryRecordRaw {
 		next.accel_plus_g = accel_plus_g;
 		next.accel_minus_g = accel_minus_g;
 
-		next.acceleration = acceleration / 16.0;
-		next.speed = speed / 16.0;
-		next.height = height;
+		next.kalman_acceleration = acceleration / 16.0;
+		next.kalman_speed = speed / 16.0;
+		next.kalman_height = height;
 
-		next.seen |= AltosRecord.seen_flight | AltosRecord.seen_temp_volt;
+		next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
 
 		return next;
 	}
diff --git a/altoslib/AltosTelemetryRecordMegaSensor.java b/altoslib/AltosTelemetryRecordMegaSensor.java
index 93c001de..2a4b17a4 100644
--- a/altoslib/AltosTelemetryRecordMegaSensor.java
+++ b/altoslib/AltosTelemetryRecordMegaSensor.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 
 public class AltosTelemetryRecordMegaSensor extends AltosTelemetryRecordRaw {
@@ -35,10 +35,8 @@ public class AltosTelemetryRecordMegaSensor extends AltosTelemetryRecordRaw {
 	int	mag_y;
 	int	mag_z;
 
-	int	rssi;
-
-	public AltosTelemetryRecordMegaSensor(int[] in_bytes, int in_rssi) {
-		super(in_bytes);
+	public AltosTelemetryRecordMegaSensor(int[] in_bytes, int rssi) {
+		super(in_bytes, rssi);
 
 		accel         = int16(6);
 		pres          = int32(8);
@@ -55,8 +53,6 @@ public class AltosTelemetryRecordMegaSensor extends AltosTelemetryRecordRaw {
 		mag_x	      = int16(26);
 		mag_y	      = int16(28);
 		mag_z	      = int16(30);
-
-		rssi	      = in_rssi;
 	}
 
 	public AltosRecord update_state(AltosRecord previous) {
@@ -85,8 +81,6 @@ public class AltosTelemetryRecordMegaSensor extends AltosTelemetryRecordRaw {
 		next.mag.y = mag_y;
 		next.mag.z = mag_z;
 
-		next.rssi = rssi;
-
 		next.seen |= AltosRecord.seen_sensor;
 
 		return next;
diff --git a/altoslib/AltosTelemetryRecordRaw.java b/altoslib/AltosTelemetryRecordRaw.java
index fbb373d5..f94789bb 100644
--- a/altoslib/AltosTelemetryRecordRaw.java
+++ b/altoslib/AltosTelemetryRecordRaw.java
@@ -15,13 +15,14 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosTelemetryRecordRaw extends AltosTelemetryRecord {
 	int[]	bytes;
 	int	serial;
 	int	tick;
 	int	type;
+	int	rssi;
 
 	long	received_time;
 
@@ -53,21 +54,24 @@ public class AltosTelemetryRecordRaw extends AltosTelemetryRecord {
 		return AltosLib.string(bytes, off + 1, l);
 	}
 
-	public AltosTelemetryRecordRaw(int[] in_bytes) {
+	public AltosTelemetryRecordRaw(int[] in_bytes, int in_rssi) {
 		bytes = in_bytes;
 		serial = uint16(0);
 		tick   = uint16(2);
 		type   = uint8(4);
+		rssi   = in_rssi;
 	}
 
 	public AltosRecord update_state(AltosRecord previous) {
 		AltosRecord	next;
-		if (previous != null)
+
+		if (previous != null && previous.serial == serial)
 			next = previous.clone();
 		else
-			next = new AltosRecord();
+			next = new AltosRecordNone();
 		next.serial = serial;
 		next.tick = tick;
+		next.rssi = rssi;
 		return next;
 	}
 
diff --git a/altoslib/AltosTelemetryRecordSatellite.java b/altoslib/AltosTelemetryRecordSatellite.java
index 2526afb6..9835389b 100644
--- a/altoslib/AltosTelemetryRecordSatellite.java
+++ b/altoslib/AltosTelemetryRecordSatellite.java
@@ -15,14 +15,14 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public class AltosTelemetryRecordSatellite extends AltosTelemetryRecordRaw {
 	int		channels;
 	AltosGPSSat[]	sats;
 
-	public AltosTelemetryRecordSatellite(int[] in_bytes) {
-		super(in_bytes);
+	public AltosTelemetryRecordSatellite(int[] in_bytes, int rssi) {
+		super(in_bytes, rssi);
 
 		channels = uint8(5);
 		if (channels > 12)
diff --git a/altoslib/AltosTelemetryRecordSensor.java b/altoslib/AltosTelemetryRecordSensor.java
index 319a91b3..e0e92c13 100644
--- a/altoslib/AltosTelemetryRecordSensor.java
+++ b/altoslib/AltosTelemetryRecordSensor.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 
 public class AltosTelemetryRecordSensor extends AltosTelemetryRecordRaw {
@@ -36,10 +36,8 @@ public class AltosTelemetryRecordSensor extends AltosTelemetryRecordRaw {
 	int	accel_plus_g;
 	int	accel_minus_g;
 
-	int	rssi;
-
-	public AltosTelemetryRecordSensor(int[] in_bytes, int in_rssi) {
-		super(in_bytes);
+	public AltosTelemetryRecordSensor(int[] in_bytes, int rssi) {
+		super(in_bytes, rssi);
 		state         = uint8(5);
 
 		accel         = int16(6);
@@ -57,8 +55,6 @@ public class AltosTelemetryRecordSensor extends AltosTelemetryRecordRaw {
 		ground_accel  = int16(26);
 		accel_plus_g  = int16(28);
 		accel_minus_g = int16(30);
-
-		rssi	      = in_rssi;
 	}
 
 	public AltosRecord update_state(AltosRecord prev) {
@@ -86,9 +82,9 @@ public class AltosTelemetryRecordSensor extends AltosTelemetryRecordRaw {
 			next.main = AltosRecord.MISSING;
 		}
 
-		next.acceleration = acceleration / 16.0;
-		next.speed = speed / 16.0;
-		next.height = height;
+		next.kalman_acceleration = acceleration / 16.0;
+		next.kalman_speed = speed / 16.0;
+		next.kalman_height = height;
 
 		next.ground_pres = ground_pres;
 		if (type == packet_type_TM_sensor) {
@@ -101,8 +97,6 @@ public class AltosTelemetryRecordSensor extends AltosTelemetryRecordRaw {
 			next.accel_minus_g = AltosRecord.MISSING;
 		}
 
-		next.rssi = rssi;
-
 		next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
 
 		return next;
diff --git a/altoslib/AltosTemperature.java b/altoslib/AltosTemperature.java
new file mode 100644
index 00000000..2749eac0
--- /dev/null
+++ b/altoslib/AltosTemperature.java
@@ -0,0 +1,43 @@
+/*
+ * Copyright © 2012 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_1;
+
+public class AltosTemperature extends AltosUnits {
+
+	public double value(double v) {
+		if (AltosConvert.imperial_units)
+			return AltosConvert.c_to_f(v);
+		return v;
+	}
+
+	public String show_units() {
+		if (AltosConvert.imperial_units)
+			return "°F";
+		return "°C";
+	}
+
+	public String say_units() {
+		if (AltosConvert.imperial_units)
+			return "degrees farenheit";
+		return "degrees celsius";
+	}
+
+	public int show_fraction(int width) {
+		return width / 3;
+	}
+}
diff --git a/altoslib/AltosUnits.java b/altoslib/AltosUnits.java
index 47540c61..b8b3254c 100644
--- a/altoslib/AltosUnits.java
+++ b/altoslib/AltosUnits.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.AltosLib;
+package org.altusmetrum.altoslib_1;
 
 public abstract class AltosUnits {
 
@@ -25,7 +25,7 @@ public abstract class AltosUnits {
 
 	public abstract String say_units();
 
-	abstract int show_fraction(int width);
+	public abstract int show_fraction(int width);
 
 	int say_fraction() {
 		return 0;
@@ -43,6 +43,10 @@ public abstract class AltosUnits {
 		return String.format("%%1.%df %s", say_fraction(), say_units());
 	}
 
+	public String graph_format(int width) {
+		return String.format(String.format("%%%d.%df", width, show_fraction(width)), 0.0);
+	}
+
 	public String show(int width, double v) {
 		return String.format(show_format(width), value(v));
 	}
diff --git a/altoslib/AltosUnitsListener.java b/altoslib/AltosUnitsListener.java
new file mode 100644
index 00000000..61a181a4
--- /dev/null
+++ b/altoslib/AltosUnitsListener.java
@@ -0,0 +1,22 @@
+/*
+ * Copyright © 2012 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_1;
+
+public interface AltosUnitsListener {
+	public void units_changed(boolean imperial_units);
+}
diff --git a/altoslib/Makefile.am b/altoslib/Makefile.am
index a9f810f9..18b028d6 100644
--- a/altoslib/Makefile.am
+++ b/altoslib/Makefile.am
@@ -2,94 +2,107 @@ AM_JAVACFLAGS=-encoding UTF-8 -Xlint:deprecation
 
 JAVAROOT=bin
 
+VERSION=1
+
 CLASSPATH_ENV=mkdir -p $(JAVAROOT); CLASSPATH="bin:$(FREETTS)/*:/usr/share/java/*"
 
 SRC=.
-BIN=bin/org/altusmetrum/AltosLib
 
-AltosLibdir = $(datadir)/java
+altoslibdir = $(datadir)/java
 
-AltosLib_JAVA = \
-	$(SRC)/AltosLib.java \
-	$(SRC)/AltosConfigData.java \
-	$(SRC)/AltosConvert.java \
-	$(SRC)/AltosCRCException.java \
-	$(SRC)/AltosEepromChunk.java \
-	$(SRC)/AltosEepromIterable.java \
-	$(SRC)/AltosEepromLog.java \
-	$(SRC)/AltosEepromMega.java \
-	$(SRC)/AltosEepromMegaIterable.java \
-	$(SRC)/AltosEepromRecord.java \
-	$(SRC)/AltosEepromTeleScience.java \
-	$(SRC)/AltosFile.java \
-	$(SRC)/AltosFlightReader.java \
-	$(SRC)/AltosFrequency.java \
-	$(SRC)/AltosGPS.java \
-	$(SRC)/AltosGPSQuery.java \
-	$(SRC)/AltosGPSSat.java \
-	$(SRC)/AltosGreatCircle.java \
-	$(SRC)/AltosIdleMonitor.java \
-	$(SRC)/AltosIdleMonitorListener.java \
-	$(SRC)/AltosIgnite.java \
-	$(SRC)/AltosIMU.java \
-	$(SRC)/AltosIMUQuery.java \
-	$(SRC)/AltosLine.java \
-	$(SRC)/AltosLink.java \
-	$(SRC)/AltosLog.java \
-	$(SRC)/AltosMs5607.java \
-	$(SRC)/AltosMs5607Query.java \
-	$(SRC)/AltosOrderedRecord.java \
-	$(SRC)/AltosOrderedMegaRecord.java \
-	$(SRC)/AltosParse.java \
-	$(SRC)/AltosPreferences.java \
-	$(SRC)/AltosRecordCompanion.java \
-	$(SRC)/AltosRecordIterable.java \
-	$(SRC)/AltosRecord.java \
-	$(SRC)/AltosRecordTM.java \
-	$(SRC)/AltosRecordMM.java \
-	$(SRC)/AltosReplayReader.java \
-	$(SRC)/AltosSensorMM.java \
-	$(SRC)/AltosSensorTM.java \
-	$(SRC)/AltosState.java \
-	$(SRC)/AltosTelemetry.java \
-	$(SRC)/AltosTelemetryIterable.java \
-	$(SRC)/AltosTelemetryMap.java \
-	$(SRC)/AltosTelemetryReader.java \
-	$(SRC)/AltosTelemetryRecordCompanion.java \
-	$(SRC)/AltosTelemetryRecordConfiguration.java \
-	$(SRC)/AltosTelemetryRecordGeneral.java \
-	$(SRC)/AltosTelemetryRecord.java \
-	$(SRC)/AltosTelemetryRecordLegacy.java \
-	$(SRC)/AltosTelemetryRecordLocation.java \
-	$(SRC)/AltosTelemetryRecordRaw.java \
-	$(SRC)/AltosTelemetryRecordSatellite.java \
-	$(SRC)/AltosTelemetryRecordSensor.java \
-	$(SRC)/AltosTelemetryRecordMegaSensor.java \
-	$(SRC)/AltosTelemetryRecordMegaData.java \
-	$(SRC)/AltosMs5607.java \
-	$(SRC)/AltosIMU.java \
-	$(SRC)/AltosMag.java \
-	$(SRC)/AltosUnits.java \
-	$(SRC)/AltosDistance.java \
-	$(SRC)/AltosHeight.java \
-	$(SRC)/AltosSpeed.java \
-	$(SRC)/AltosAccel.java
+altoslib_JAVA = \
+	AltosLib.java \
+	AltosConfigData.java \
+	AltosConfigValues.java \
+	AltosConvert.java \
+	AltosCRCException.java \
+	AltosDebug.java \
+	AltosEepromChunk.java \
+	AltosEepromIterable.java \
+	AltosEepromLog.java \
+	AltosEepromMega.java \
+	AltosEepromMegaIterable.java \
+	AltosEepromRecord.java \
+	AltosEepromTeleScience.java \
+	AltosFile.java \
+	AltosFlash.java \
+	AltosFlashListener.java \
+	AltosFlightReader.java \
+	AltosFrequency.java \
+	AltosGPS.java \
+	AltosGPSQuery.java \
+	AltosGPSSat.java \
+	AltosGreatCircle.java \
+	AltosHexfile.java \
+	AltosIdleMonitor.java \
+	AltosIdleMonitorListener.java \
+	AltosIgnite.java \
+	AltosIMU.java \
+	AltosIMUQuery.java \
+	AltosLine.java \
+	AltosLink.java \
+	AltosListenerState.java \
+	AltosLog.java \
+	AltosMs5607.java \
+	AltosMs5607Query.java \
+	AltosOrderedRecord.java \
+	AltosOrderedMegaRecord.java \
+	AltosParse.java \
+	AltosPreferences.java \
+	AltosPreferencesBackend.java \
+	AltosRecordCompanion.java \
+	AltosRecordIterable.java \
+	AltosRecord.java \
+	AltosRecordNone.java \
+	AltosRecordTM.java \
+	AltosRecordMM.java \
+	AltosReplayReader.java \
+	AltosRomconfig.java \
+	AltosSensorMM.java \
+	AltosSensorTM.java \
+	AltosState.java \
+	AltosTelemetry.java \
+	AltosTelemetryIterable.java \
+	AltosTelemetryMap.java \
+	AltosTelemetryReader.java \
+	AltosTelemetryRecordCompanion.java \
+	AltosTelemetryRecordConfiguration.java \
+	AltosTelemetryRecordGeneral.java \
+	AltosTelemetryRecord.java \
+	AltosTelemetryRecordLegacy.java \
+	AltosTelemetryRecordLocation.java \
+	AltosTelemetryRecordRaw.java \
+	AltosTelemetryRecordSatellite.java \
+	AltosTelemetryRecordSensor.java \
+	AltosTelemetryRecordMegaSensor.java \
+	AltosTelemetryRecordMegaData.java \
+	AltosUnitsListener.java \
+	AltosMs5607.java \
+	AltosIMU.java \
+	AltosMag.java \
+	AltosUnits.java \
+	AltosDistance.java \
+	AltosHeight.java \
+	AltosSpeed.java \
+	AltosTemperature.java \
+	AltosAccel.java \
+	AltosPyro.java
 
-JAR=AltosLib.jar
+JAR=altoslib_$(ALTOSLIB_VERSION).jar
 
 all-local: $(JAR)
 
 clean-local:
 	-rm -rf bin $(JAR)
 
-install-AltosLibJAVA: $(JAR)
+install-altoslibJAVA: $(JAR)
 	@$(NORMAL_INSTALL)
-	test -z "$(AltosLibdir)" || $(MKDIR_P) "$(DESTDIR)$(AltosLibdir)"
-	echo " $(INSTALL_DATA)" "$<" "'$(DESTDIR)$(AltosLibdir)/$(JAR)"; \
-	$(INSTALL_DATA) "$<" "$(DESTDIR)$(AltosLibdir)"
+	test -z "$(altoslibdir)" || $(MKDIR_P) "$(DESTDIR)$(altoslibdir)"
+	echo " $(INSTALL_DATA)" "$<" "'$(DESTDIR)$(altoslibdir)/$(JAR)"; \
+	$(INSTALL_DATA) "$<" "$(DESTDIR)$(altoslibdir)"
 
 bin:
 	mkdir -p bin
 
-$(JAR): classAltosLib.stamp
+$(JAR): classaltoslib.stamp
 	jar cf $@ -C bin org