Merge branch 'branch-1.6' into debian

Conflicts:
	ChangeLog
	altoslib/AltosTelemetryReader.java
	configure.ac

102 files changed, 985 insertions, 323 deletions

diff --git a/altoslib/AltosAccel.java b/altoslib/AltosAccel.java
index d91da4da..b11dc3a1 100644
--- a/altoslib/AltosAccel.java
+++ b/altoslib/AltosAccel.java
@@ -15,9 +15,11 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
-public class AltosAccel extends AltosUnits {
+import java.io.*;
+
+public class AltosAccel extends AltosUnits implements Serializable {
 
 	public double value(double v, boolean imperial_units) {
 		if (imperial_units)
@@ -46,4 +48,4 @@ public class AltosAccel extends AltosUnits {
 	public int show_fraction(int width, boolean imperial_units) {
 		return width / 9;
 	}
-}
\ No newline at end of file
+}
diff --git a/altoslib/AltosCRCException.java b/altoslib/AltosCRCException.java
index 507c446b..4167aecf 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_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosCRCException extends Exception {
 	public int rssi;
diff --git a/altoslib/AltosCSV.java b/altoslib/AltosCSV.java
index 4a9278d9..02f7806f 100644
--- a/altoslib/AltosCSV.java
+++ b/altoslib/AltosCSV.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
@@ -158,21 +158,14 @@ public class AltosCSV implements AltosWriter {
 	}
 
 	void write_advanced_header() {
-		out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z");
+		out.printf("accel_x,accel_y,accel_z,gyro_x,gyro_y,gyro_z,mag_x,mag_y,mag_z");
 	}
 
 	void write_advanced(AltosState state) {
-		AltosIMU	imu = state.imu;
-		AltosMag	mag = state.mag;
-
-		if (imu == null)
-			imu = new AltosIMU();
-		if (mag == null)
-			mag = new AltosMag();
 		out.printf("%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f,%7.2f",
-			   imu.accel_x, imu.accel_y, imu.accel_z,
-			   imu.gyro_x, imu.gyro_y, imu.gyro_z,
-			   mag.x, mag.y, mag.z);
+			   state.accel_along(), state.accel_across(), state.accel_through(),
+			   state.gyro_roll(), state.gyro_pitch(), state.gyro_yaw(),
+			   state.mag_along(), state.mag_across(), state.mag_through());
 	}
 
 	void write_gps_header() {
@@ -381,7 +374,7 @@ public class AltosCSV implements AltosWriter {
 				has_basic = true;
 			if (state.battery_voltage != AltosLib.MISSING)
 				has_battery = true;
-			if (state.imu != null || state.mag != null)
+			if (state.accel_across() != AltosLib.MISSING)
 				has_advanced = true;
 			if (state.gps != null) {
 				has_gps = true;
diff --git a/altoslib/AltosCompanion.java b/altoslib/AltosCompanion.java
index 47deb2a3..8992b018 100644
--- a/altoslib/AltosCompanion.java
+++ b/altoslib/AltosCompanion.java
@@ -15,9 +15,11 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
-public class AltosCompanion {
+import java.io.*;
+
+public class AltosCompanion implements Serializable {
 	public final static int	board_id_telescience = 0x0a;
 	public final static int	MAX_CHANNELS = 12;
 
diff --git a/altoslib/AltosConfigData.java b/altoslib/AltosConfigData.java
index fc1f2442..d8f4d945 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.util.*;
 import java.text.*;
@@ -90,6 +90,19 @@ public class AltosConfigData implements Iterable<String> {
 	public int	tracker_motion;
 	public int	tracker_interval;
 
+	/* HAS_GYRO */
+	public int	accel_zero_along, accel_zero_across, accel_zero_through;
+
+	/* ms5607 data */
+	public int	ms5607_reserved;
+	public int	ms5607_sens;
+	public int	ms5607_off;
+	public int	ms5607_tcs;
+	public int	ms5607_tco;
+	public int	ms5607_tref;
+	public int	ms5607_tempsens;
+	public int	ms5607_crc;
+
 	public static String get_string(String line, String label) throws  ParseException {
 		if (line.startsWith(label)) {
 			String	quoted = line.substring(label.length()).trim();
@@ -266,6 +279,10 @@ public class AltosConfigData implements Iterable<String> {
 		storage_size = -1;
 		storage_erase_unit = -1;
 		stored_flight = 0;
+
+		accel_zero_along = -1;
+		accel_zero_across = -1;
+		accel_zero_through = -1;
 	}
 
 	public void parse_line(String line) {
@@ -282,6 +299,15 @@ public class AltosConfigData implements Iterable<String> {
 
 		/* Version also contains MS5607 info, which we ignore here */
 
+		try { ms5607_reserved = get_int(line, "ms5607 reserved:"); } catch (Exception e) {}
+		try { ms5607_sens = get_int(line, "ms5607 sens:"); } catch (Exception e) {}
+		try { ms5607_off = get_int(line, "ms5607 off:"); } catch (Exception e) {}
+		try { ms5607_tcs = get_int(line, "ms5607 tcs:"); } catch (Exception e) {}
+		try { ms5607_tco = get_int(line, "ms5607 tco:"); } catch (Exception e) {}
+		try { ms5607_tref = get_int(line, "ms5607 tref:"); } catch (Exception e) {}
+		try { ms5607_tempsens = get_int(line, "ms5607 tempsens:"); } catch (Exception e) {}
+		try { ms5607_crc = get_int(line, "ms5607 crc:"); } catch (Exception e) {}
+
 		/* Config show replies */
 
 		/* HAS_FLIGHT */
@@ -361,6 +387,18 @@ public class AltosConfigData implements Iterable<String> {
 
 		/* Log listing replies */
 		try { get_int(line, "flight"); stored_flight++; }  catch (Exception e) {}
+
+		/* HAS_GYRO */
+		try {
+			if (line.startsWith("IMU call along")) {
+				String[] bits = line.split("\\s+");
+				if (bits.length >= 8) {
+					accel_zero_along = Integer.parseInt(bits[3]);
+					accel_zero_across = Integer.parseInt(bits[5]);
+					accel_zero_through = Integer.parseInt(bits[7]);
+				}
+			}
+		} catch (Exception e) {}
 	}
 
 	public AltosConfigData() {
@@ -539,6 +577,14 @@ public class AltosConfigData implements Iterable<String> {
 		dest.set_tracker_interval(tracker_interval);
 	}
 
+	public boolean log_has_state() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEGPS:
+			return false;
+		}
+		return true;
+	}
+
 	public void save(AltosLink link, boolean remote) throws InterruptedException, TimeoutException {
 
 		/* HAS_FLIGHT */
@@ -637,6 +683,9 @@ public class AltosConfigData implements Iterable<String> {
 		if (tracker_motion >= 0 && tracker_interval >= 0)
 			link.printf("c t %d %d\n", tracker_motion, tracker_interval);
 
+		/* HAS_GYRO */
+		/* UI doesn't support accel cal */
+
 		link.printf("c w\n");
 		link.flush_output();
 	}
diff --git a/altoslib/AltosConfigDataException.java b/altoslib/AltosConfigDataException.java
index a932d3e3..11aa4d24 100644
--- a/altoslib/AltosConfigDataException.java
+++ b/altoslib/AltosConfigDataException.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosConfigDataException extends Exception {
 
diff --git a/altoslib/AltosConfigValues.java b/altoslib/AltosConfigValues.java
index 3f0a7075..cfe9fc8b 100644
--- a/altoslib/AltosConfigValues.java
+++ b/altoslib/AltosConfigValues.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public interface AltosConfigValues {
 	/* set and get all of the dialog values */
diff --git a/altoslib/AltosConvert.java b/altoslib/AltosConvert.java
index 18878c02..a5eb7ff8 100644
--- a/altoslib/AltosConvert.java
+++ b/altoslib/AltosConvert.java
@@ -18,7 +18,7 @@
 /*
  * Sensor data conversion functions
  */
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosConvert {
 	/*
diff --git a/altoslib/AltosDebug.java b/altoslib/AltosDebug.java
index e58fbaf2..ef5edc6a 100644
--- a/altoslib/AltosDebug.java
+++ b/altoslib/AltosDebug.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 
diff --git a/altoslib/AltosDistance.java b/altoslib/AltosDistance.java
index 67bb58e9..b0666f33 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_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosDistance extends AltosUnits {
 
diff --git a/altoslib/AltosEeprom.java b/altoslib/AltosEeprom.java
index 532c9f1d..777988e7 100644
--- a/altoslib/AltosEeprom.java
+++ b/altoslib/AltosEeprom.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
diff --git a/altoslib/AltosEepromChunk.java b/altoslib/AltosEepromChunk.java
index 4d12f564..19a8807d 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.text.*;
 import java.util.concurrent.*;
@@ -75,7 +75,8 @@ public class AltosEepromChunk {
 		case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
 			break;
 		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
-			eeprom = new AltosEepromMega(this, offset);
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			eeprom = new AltosEepromMega(this, offset, log_format);
 			break;
 		case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
 			eeprom = new AltosEepromMetrum2(this, offset);
diff --git a/altoslib/AltosEepromDownload.java b/altoslib/AltosEepromDownload.java
index a448ee64..9598bd93 100644
--- a/altoslib/AltosEepromDownload.java
+++ b/altoslib/AltosEepromDownload.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
@@ -75,7 +75,8 @@ public class AltosEepromDownload implements Runnable {
 	}
 
 	boolean			done;
-	boolean			start;
+	int			prev_state;
+	int			state_block;
 
 	void LogEeprom(AltosEeprom r) throws IOException {
 		if (r.cmd != AltosLib.AO_LOG_INVALID) {
@@ -140,7 +141,6 @@ public class AltosEepromDownload implements Runnable {
 		state = new AltosState();
 
 		done = false;
-		start = true;
 
 		if (flights.config_data.serial < 0)
 			throw new IOException("no serial number found");
@@ -154,12 +154,8 @@ public class AltosEepromDownload implements Runnable {
 		/* Now scan the eeprom, reading blocks of data and converting to .eeprom file form */
 
 		state_block = log.start_block;
+		prev_state = AltosLib.ao_flight_startup;
 		for (block = log.start_block; !done && block < log.end_block; block++) {
-			monitor.set_value(state.state_name(),
-					  state.state,
-					  block - state_block,
-					  block - log.start_block);
-
 			AltosEepromChunk	eechunk = new AltosEepromChunk(link, block, block == log.start_block);
 
 			/*
@@ -177,6 +173,16 @@ public class AltosEepromDownload implements Runnable {
 			}
 
 			CaptureEeprom (eechunk, log_format);
+
+			if (state.state != prev_state && state.state != AltosLib.ao_flight_invalid) {
+				state_block = block;
+				prev_state = state.state;
+			}
+
+			monitor.set_value(state.state_name(),
+					  state.state,
+					  block - state_block,
+					  block - log.start_block);
 		}
 		CheckFile(true);
 		if (eeprom_file != null) {
@@ -254,7 +260,10 @@ public class AltosEepromDownload implements Runnable {
 		flights = given_flights;
 		success = false;
 
-		monitor.set_states(AltosLib.ao_flight_boost, AltosLib.ao_flight_landed);
+		if (flights.config_data.log_has_state())
+			monitor.set_states(AltosLib.ao_flight_boost, AltosLib.ao_flight_landed);
+		else
+			monitor.set_states(AltosLib.ao_flight_invalid, AltosLib.ao_flight_invalid);
 
 		monitor.start();
 	}
diff --git a/altoslib/AltosEepromFile.java b/altoslib/AltosEepromFile.java
index a1579b55..c8443549 100644
--- a/altoslib/AltosEepromFile.java
+++ b/altoslib/AltosEepromFile.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
@@ -94,7 +94,8 @@ public class AltosEepromFile extends AltosStateIterable {
 		case AltosLib.AO_LOG_FORMAT_TELEMETRY:
 		case AltosLib.AO_LOG_FORMAT_TELESCIENCE:
 		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
-			body = new AltosEepromIterable(AltosEepromMega.read(input));
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			body = new AltosEepromIterable(AltosEepromMega.read(input, start.log_format));
 			break;
 		case AltosLib.AO_LOG_FORMAT_TELEMETRUM:
 			body = new AltosEepromIterable(AltosEepromMetrum2.read(input));
diff --git a/altoslib/AltosEepromGPS.java b/altoslib/AltosEepromGPS.java
index 8c991a6e..96cfc0e1 100644
--- a/altoslib/AltosEepromGPS.java
+++ b/altoslib/AltosEepromGPS.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
diff --git a/altoslib/AltosEepromHeader.java b/altoslib/AltosEepromHeader.java
index 71030655..fc4e9caa 100644
--- a/altoslib/AltosEepromHeader.java
+++ b/altoslib/AltosEepromHeader.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
@@ -25,7 +25,7 @@ public class AltosEepromHeader extends AltosEeprom {
 
 	public int	cmd;
 	public String	data;
-	public int	config_a, config_b;
+	public int	config_a, config_b, config_c;
 	public boolean	last;
 	public boolean	valid;
 
@@ -93,6 +93,9 @@ public class AltosEepromHeader extends AltosEeprom {
 			state.make_baro();
 			state.baro.crc = config_a;
 			break;
+		case AltosLib.AO_LOG_IMU_CAL:
+			state.set_accel_zero(config_a, config_b, config_c);
+			break;
 		case AltosLib.AO_LOG_SOFTWARE_VERSION:
 			state.set_firmware_version(data);
 			break;
@@ -100,7 +103,10 @@ public class AltosEepromHeader extends AltosEeprom {
 		case AltosLib.AO_LOG_APOGEE_LOCKOUT:
 		case AltosLib.AO_LOG_RADIO_RATE:
 		case AltosLib.AO_LOG_IGNITE_MODE:
+			break;
 		case AltosLib.AO_LOG_PAD_ORIENTATION:
+			state.set_pad_orientation(config_a);
+			break;
 		case AltosLib.AO_LOG_RADIO_ENABLE:
 		case AltosLib.AO_LOG_AES_KEY:
 		case AltosLib.AO_LOG_APRS:
@@ -177,11 +183,17 @@ public class AltosEepromHeader extends AltosEeprom {
 		case AltosLib.AO_LOG_BARO_CRC:
 			out.printf ("# Baro crc: %d\n", config_a);
 			break;
+		case AltosLib.AO_LOG_IMU_CAL:
+			out.printf ("# IMU cal: %d %d %d\n", config_a, config_b, config_c);
+			break;
 		case AltosLib.AO_LOG_FREQUENCY:
 		case AltosLib.AO_LOG_APOGEE_LOCKOUT:
 		case AltosLib.AO_LOG_RADIO_RATE:
 		case AltosLib.AO_LOG_IGNITE_MODE:
+			break;
 		case AltosLib.AO_LOG_PAD_ORIENTATION:
+			out.printf("# Pad orientation: %d\n", config_a);
+			break;
 		case AltosLib.AO_LOG_RADIO_ENABLE:
 		case AltosLib.AO_LOG_AES_KEY:
 		case AltosLib.AO_LOG_APRS:
@@ -273,6 +285,14 @@ public class AltosEepromHeader extends AltosEeprom {
 					cmd = AltosLib.AO_LOG_INVALID;
 					data = tokens[2];
 				}
+			} else if (tokens[0].equals("IMU") && tokens[1].equals("cal")) {
+				cmd = AltosLib.AO_LOG_IMU_CAL;
+				config_a = Integer.parseInt(tokens[3]);
+				config_b = Integer.parseInt(tokens[5]);
+				config_c = Integer.parseInt(tokens[7]);
+			} else if (tokens[0].equals("Pad") && tokens[1].equals("orientation:")) {
+				cmd = AltosLib.AO_LOG_PAD_ORIENTATION;
+				config_a = Integer.parseInt(tokens[2]);
 			} else
 				valid = false;
 		} catch (Exception e) {
diff --git a/altoslib/AltosEepromIterable.java b/altoslib/AltosEepromIterable.java
index dd0afd9f..94487ab5 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
diff --git a/altoslib/AltosEepromList.java b/altoslib/AltosEepromList.java
index 740499d3..39768a21 100644
--- a/altoslib/AltosEepromList.java
+++ b/altoslib/AltosEepromList.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
diff --git a/altoslib/AltosEepromLog.java b/altoslib/AltosEepromLog.java
index 5a11fa54..0fc82ab4 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.text.*;
 import java.util.concurrent.*;
diff --git a/altoslib/AltosEepromMega.java b/altoslib/AltosEepromMega.java
index adaa7f31..c2edcf23 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
@@ -26,6 +26,8 @@ public class AltosEepromMega extends AltosEeprom {
 
 	public static final int max_sat = 12;
 
+	private int log_format;
+
 	public int record_length() { return record_length; }
 
 	/* AO_LOG_FLIGHT elements */
@@ -35,9 +37,36 @@ public class AltosEepromMega extends AltosEeprom {
 	public int ground_accel_along() { return data16(8); }
 	public int ground_accel_across() { return data16(10); }
 	public int ground_accel_through() { return data16(12); }
-	public int ground_roll() { return data16(14); }
-	public int ground_pitch() { return data16(16); }
-	public int ground_yaw() { return data16(18); }
+	public int ground_roll() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+			return data32(16);
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return data16(14);
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+	public int ground_pitch() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+			return data32(20);
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return data16(16);
+		default:
+			return AltosLib.MISSING;
+		}
+	}
+	public int ground_yaw() {
+		switch (log_format) {
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA:
+			return data32(24);
+		case AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD:
+			return data16(18);
+		default:
+			return AltosLib.MISSING;
+		}
+	}
 
 	/* AO_LOG_STATE elements */
 	public int state() { return data16(0); }
@@ -89,7 +118,8 @@ public class AltosEepromMega extends AltosEeprom {
 	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 {
+	public AltosEepromMega (AltosEepromChunk chunk, int start, int log_format) throws ParseException {
+		this.log_format = log_format;
 		parse_chunk(chunk, start);
 	}
 
@@ -119,6 +149,12 @@ public class AltosEepromMega extends AltosEeprom {
 			state.set_flight(flight());
 			state.set_ground_accel(ground_accel());
 			state.set_ground_pressure(ground_pres());
+			state.set_accel_ground(ground_accel_along(),
+					       ground_accel_across(),
+					       ground_accel_through());
+			state.set_gyro_zero(ground_roll() / 512.0,
+					    ground_pitch() / 512.0,
+					    ground_yaw() / 512.0);
 			break;
 		case AltosLib.AO_LOG_STATE:
 			state.set_tick(tick);
@@ -128,22 +164,21 @@ public class AltosEepromMega extends AltosEeprom {
 			state.set_tick(tick);
 			state.set_ms5607(pres(), temp());
 
-			AltosIMU imu = new AltosIMU();
-			imu.accel_x = AltosIMU.convert_accel(accel_x());
-			imu.accel_y = AltosIMU.convert_accel(accel_y());
-			imu.accel_z = AltosIMU.convert_accel(accel_z());
+			AltosIMU	imu = new AltosIMU(accel_y(),	/* along */
+							   accel_x(),	/* across */
+							   accel_z(),	/* through */
+							   gyro_y(),	/* roll */
+							   gyro_x(),	/* pitch */
+							   gyro_z());	/* yaw */
 
-			imu.gyro_x = AltosIMU.convert_gyro(gyro_x());
-			imu.gyro_y = AltosIMU.convert_gyro(gyro_y());
-			imu.gyro_z = AltosIMU.convert_gyro(gyro_z());
-			state.imu = imu;
+			if (log_format == AltosLib.AO_LOG_FORMAT_TELEMEGA_OLD)
+				state.check_imu_wrap(imu);
 
-			AltosMag mag = new AltosMag();
-			mag.x = AltosMag.convert_gauss(mag_x());
-			mag.y = AltosMag.convert_gauss(mag_y());
-			mag.z = AltosMag.convert_gauss(mag_z());
+			state.set_imu(imu);
 
-			state.mag = mag;
+			state.set_mag(new AltosMag(mag_x(),
+						   mag_y(),
+						   mag_z()));
 
 			state.set_accel(accel());
 
@@ -221,11 +256,12 @@ public class AltosEepromMega extends AltosEeprom {
 		}
 	}
 
-	public AltosEepromMega (String line) {
+	public AltosEepromMega (String line, int log_format) {
+		this.log_format = log_format;
 		parse_string(line);
 	}
 
-	static public LinkedList<AltosEeprom> read(FileInputStream input) {
+	static public LinkedList<AltosEeprom> read(FileInputStream input, int log_format) {
 		LinkedList<AltosEeprom> megas = new LinkedList<AltosEeprom>();
 
 		for (;;) {
@@ -234,7 +270,7 @@ public class AltosEepromMega extends AltosEeprom {
 				if (line == null)
 					break;
 				try {
-					AltosEepromMega mega = new AltosEepromMega(line);
+					AltosEepromMega mega = new AltosEepromMega(line, log_format);
 					if (mega.cmd != AltosLib.AO_LOG_INVALID)
 						megas.add(mega);
 				} catch (Exception e) {
diff --git a/altoslib/AltosEepromMetrum2.java b/altoslib/AltosEepromMetrum2.java
index d9a65989..39425e10 100644
--- a/altoslib/AltosEepromMetrum2.java
+++ b/altoslib/AltosEepromMetrum2.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
diff --git a/altoslib/AltosEepromMini.java b/altoslib/AltosEepromMini.java
index f197539e..ef13d0a7 100644
--- a/altoslib/AltosEepromMini.java
+++ b/altoslib/AltosEepromMini.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
diff --git a/altoslib/AltosEepromMonitor.java b/altoslib/AltosEepromMonitor.java
index 173a2cd8..35ed5a6e 100644
--- a/altoslib/AltosEepromMonitor.java
+++ b/altoslib/AltosEepromMonitor.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public interface AltosEepromMonitor {
 
diff --git a/altoslib/AltosEepromTM.java b/altoslib/AltosEepromTM.java
index 6d36cf47..2bdd64f0 100644
--- a/altoslib/AltosEepromTM.java
+++ b/altoslib/AltosEepromTM.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
diff --git a/altoslib/AltosEepromTm.java b/altoslib/AltosEepromTm.java
index 81b42f21..36500393 100644
--- a/altoslib/AltosEepromTm.java
+++ b/altoslib/AltosEepromTm.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
diff --git a/altoslib/AltosFile.java b/altoslib/AltosFile.java
index ba639a04..a79216a2 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.File;
 import java.util.*;
diff --git a/altoslib/AltosFlash.java b/altoslib/AltosFlash.java
index a8519550..e58b652e 100644
--- a/altoslib/AltosFlash.java
+++ b/altoslib/AltosFlash.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 
diff --git a/altoslib/AltosFlashListener.java b/altoslib/AltosFlashListener.java
index 7a51c330..1c7cd77d 100644
--- a/altoslib/AltosFlashListener.java
+++ b/altoslib/AltosFlashListener.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public interface AltosFlashListener {
 	public void position(String label, int percent);
diff --git a/altoslib/AltosFlightReader.java b/altoslib/AltosFlightReader.java
index be103838..03c53ff4 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.text.*;
 import java.io.*;
diff --git a/altoslib/AltosFlightStats.java b/altoslib/AltosFlightStats.java
index 1b88cb9f..82e477f8 100644
--- a/altoslib/AltosFlightStats.java
+++ b/altoslib/AltosFlightStats.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 
@@ -37,6 +37,8 @@ public class AltosFlightStats {
 	public double		pad_lat, pad_lon;
 	public boolean		has_flight_data;
 	public boolean		has_gps;
+	public boolean		has_gps_sats;
+	public boolean		has_gps_detail;
 	public boolean		has_flight_adc;
 	public boolean		has_battery;
 	public boolean		has_rssi;
@@ -113,6 +115,7 @@ public class AltosFlightStats {
 		lat = lon = AltosLib.MISSING;
 		has_flight_data = false;
 		has_gps = false;
+		has_gps_sats = false;
 		has_flight_adc = false;
 		has_battery = false;
 		has_rssi = false;
@@ -174,6 +177,10 @@ public class AltosFlightStats {
 				lat = state.gps.lat;
 				lon = state.gps.lon;
 				has_gps = true;
+				if (state.gps.cc_gps_sat != null)
+					has_gps_sats = true;
+				if (state.gps.course != AltosLib.MISSING)
+					has_gps_detail = true;
 			}
 			if (state.imu != null)
 				has_imu = true;
diff --git a/altoslib/AltosFrequency.java b/altoslib/AltosFrequency.java
index 6093df49..1dd4819d 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_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosFrequency {
 	public double	frequency;
diff --git a/altoslib/AltosGPS.java b/altoslib/AltosGPS.java
index 0154e95d..2139efb2 100644
--- a/altoslib/AltosGPS.java
+++ b/altoslib/AltosGPS.java
@@ -15,12 +15,13 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.text.*;
 import java.util.concurrent.*;
+import java.io.*;
 
-public class AltosGPS implements Cloneable {
+public class AltosGPS implements Cloneable, Serializable {
 
 	public final static int MISSING = AltosLib.MISSING;
 
@@ -377,6 +378,7 @@ public class AltosGPS implements Cloneable {
 
 	public AltosGPS (AltosLink link, AltosConfigData config_data) throws TimeoutException, InterruptedException {
 		boolean says_done = config_data.compare_version("1.0") >= 0;
+		init();
 		link.printf("g\n");
 		for (;;) {
 			String line = link.get_reply_no_dialog(5000);
diff --git a/altoslib/AltosGPSSat.java b/altoslib/AltosGPSSat.java
index adbcbe61..57491f4d 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_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosGPSSat {
 	public int	svid;
diff --git a/altoslib/AltosGreatCircle.java b/altoslib/AltosGreatCircle.java
index 716eeef9..c48755be 100644
--- a/altoslib/AltosGreatCircle.java
+++ b/altoslib/AltosGreatCircle.java
@@ -15,11 +15,12 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.lang.Math;
+import java.io.*;
 
-public class AltosGreatCircle implements Cloneable {
+public class AltosGreatCircle implements Cloneable, Serializable {
 	public double	distance;
 	public double	bearing;
 	public double	range;
diff --git a/altoslib/AltosHeight.java b/altoslib/AltosHeight.java
index 8c67e043..c4419ae6 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_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosHeight extends AltosUnits {
 
diff --git a/altoslib/AltosHexfile.java b/altoslib/AltosHexfile.java
index 9ee64bdc..9f45d65a 100644
--- a/altoslib/AltosHexfile.java
+++ b/altoslib/AltosHexfile.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.LinkedList;
diff --git a/altoslib/AltosHexsym.java b/altoslib/AltosHexsym.java
index 52eb81db..0c61fd02 100644
--- a/altoslib/AltosHexsym.java
+++ b/altoslib/AltosHexsym.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosHexsym {
 	String	name;
diff --git a/altoslib/AltosIMU.java b/altoslib/AltosIMU.java
index 89d7def4..8c219d9f 100644
--- a/altoslib/AltosIMU.java
+++ b/altoslib/AltosIMU.java
@@ -15,41 +15,30 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.util.concurrent.*;
+import java.io.*;
 
-public class AltosIMU implements Cloneable {
-	public double		accel_x;
-	public double		accel_y;
-	public double		accel_z;
+public class AltosIMU implements Cloneable, Serializable {
+	public int		accel_along;
+	public int		accel_across;
+	public int		accel_through;
 
-	public double		gyro_x;
-	public double		gyro_y;
-	public double		gyro_z;
+	public int		gyro_roll;
+	public int		gyro_pitch;
+	public int		gyro_yaw;
 
-/*
- * XXX use ground measurements to adjust values
-
-	public double		ground_accel_x;
-	public double		ground_accel_y;
-	public double		ground_accel_z;
-
-	public double		ground_gyro_x;
-	public double		ground_gyro_y;
-	public double		ground_gyro_z;
-*/
-
-	public static int	counts_per_g = 2048;
+	public static double	counts_per_g = 2048.0;
 
-	public static double convert_accel(int counts) {
-		return (double) counts / (double) counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
+	public static double convert_accel(double counts) {
+		return counts / counts_per_g * (-AltosConvert.GRAVITATIONAL_ACCELERATION);
 	}
 
 	public static double	counts_per_degsec = 16.4;
 
-	public static double convert_gyro(int counts) {
-		return (double) counts / counts_per_degsec;
+	public static double convert_gyro(double counts) {
+		return counts / counts_per_degsec;
 	}
 
 	public boolean parse_string(String line) {
@@ -59,12 +48,12 @@ public class AltosIMU implements Cloneable {
 		String[] items = line.split("\\s+");
 
 		if (items.length >= 8) {
-			accel_x = convert_accel(Integer.parseInt(items[1]));
-			accel_y = convert_accel(Integer.parseInt(items[2]));
-			accel_z = convert_accel(Integer.parseInt(items[3]));
-			gyro_x = convert_gyro(Integer.parseInt(items[5]));
-			gyro_y = convert_gyro(Integer.parseInt(items[6]));
-			gyro_z = convert_gyro(Integer.parseInt(items[7]));
+			accel_along = Integer.parseInt(items[1]);
+			accel_across = Integer.parseInt(items[2]);
+			accel_through = Integer.parseInt(items[3]);
+			gyro_roll = Integer.parseInt(items[5]);
+			gyro_pitch = Integer.parseInt(items[6]);
+			gyro_yaw = Integer.parseInt(items[7]);
 		}
 		return true;
 	}
@@ -72,13 +61,13 @@ public class AltosIMU implements Cloneable {
 	public AltosIMU clone() {
 		AltosIMU	n = new AltosIMU();
 
-		n.accel_x = accel_x;
-		n.accel_y = accel_y;
-		n.accel_z = accel_z;
+		n.accel_along = accel_along;
+		n.accel_across = accel_across;
+		n.accel_through = accel_through;
 
-		n.gyro_x = gyro_x;
-		n.gyro_y = gyro_y;
-		n.gyro_z = gyro_z;
+		n.gyro_roll = gyro_roll;
+		n.gyro_pitch = gyro_pitch;
+		n.gyro_yaw = gyro_yaw;
 		return n;
 	}
 
@@ -93,13 +82,25 @@ public class AltosIMU implements Cloneable {
 	}
 
 	public AltosIMU() {
-		accel_x = AltosLib.MISSING;
-		accel_y = AltosLib.MISSING;
-		accel_z = AltosLib.MISSING;
+		accel_along = AltosLib.MISSING;
+		accel_across = AltosLib.MISSING;
+		accel_through = AltosLib.MISSING;
+
+		gyro_roll = AltosLib.MISSING;
+		gyro_pitch = AltosLib.MISSING;
+		gyro_yaw = AltosLib.MISSING;
+	}
+
+	public AltosIMU(int accel_along, int accel_across, int accel_through,
+			int gyro_roll, int gyro_pitch, int gyro_yaw) {
+
+		this.accel_along = accel_along;
+		this.accel_across = accel_across;
+		this.accel_through = accel_through;
 
-		gyro_x = AltosLib.MISSING;
-		gyro_y = AltosLib.MISSING;
-		gyro_z = AltosLib.MISSING;
+		this.gyro_roll = gyro_roll;
+		this.gyro_pitch = gyro_pitch;
+		this.gyro_yaw = gyro_yaw;
 	}
 
 	public AltosIMU(AltosLink link) throws InterruptedException, TimeoutException {
diff --git a/altoslib/AltosIdle.java b/altoslib/AltosIdle.java
index 0f723d14..82b18ca2 100644
--- a/altoslib/AltosIdle.java
+++ b/altoslib/AltosIdle.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
diff --git a/altoslib/AltosIdleFetch.java b/altoslib/AltosIdleFetch.java
index 50745d97..4c5e8285 100644
--- a/altoslib/AltosIdleFetch.java
+++ b/altoslib/AltosIdleFetch.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
@@ -38,6 +38,7 @@ class AltosIdler {
 	static final int	idle_sensor_mega = 12;
 	static final int	idle_sensor_emini = 13;
 	static final int	idle_sensor_tmini = 14;
+	static final int	idle_sensor_tgps = 15;
 
 	public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException, TimeoutException {
 		for (int idler : idlers) {
@@ -72,6 +73,10 @@ class AltosIdler {
 				break;
 			case idle_sensor_tmini:
 				AltosSensorTMini.update_state(state, link, config_data);
+				break;
+			case idle_sensor_tgps:
+				AltosSensorTGPS.update_state(state, link, config_data);
+				break;
 			}
 			if (idle != null)
 				idle.update_state(state);
@@ -122,6 +127,9 @@ public class AltosIdleFetch implements AltosStateUpdate {
 			       AltosIdler.idle_ms5607, AltosIdler.idle_mma655x,
 			       AltosIdler.idle_imu, AltosIdler.idle_mag,
 			       AltosIdler.idle_sensor_mega),
+		new AltosIdler("TeleGPS",
+			       AltosIdler.idle_gps,
+			       AltosIdler.idle_sensor_tgps),
 	};
 
 	AltosLink		link;
@@ -131,8 +139,9 @@ public class AltosIdleFetch implements AltosStateUpdate {
 
 	public void update_state(AltosState state) throws InterruptedException {
 		try {
+			/* Fetch config data from remote */
 			AltosConfigData config_data = new AltosConfigData(link);
-			state.set_state(AltosLib.ao_flight_startup);
+			state.set_state(AltosLib.ao_flight_stateless);
 			state.set_serial(config_data.serial);
 			state.set_callsign(config_data.callsign);
 			state.set_ground_accel(config_data.accel_cal_plus);
diff --git a/altoslib/AltosIdleMonitor.java b/altoslib/AltosIdleMonitor.java
index 85bcff10..4d0968bf 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.concurrent.*;
@@ -35,20 +35,6 @@ public class AltosIdleMonitor extends Thread {
 	AltosConfigData		config_data;
 	AltosGPS		gps;
 
-	int AltosRSSI() throws TimeoutException, InterruptedException {
-		link.printf("s\n");
-		String line = link.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;
-	}
-
 	void start_link() throws InterruptedException, TimeoutException {
 		if (remote) {
 			link.set_radio_frequency(frequency);
@@ -58,26 +44,30 @@ public class AltosIdleMonitor extends Thread {
 			link.flush_input();
 	}
 
-	void stop_link() throws InterruptedException, TimeoutException {
+	boolean stop_link() throws InterruptedException, TimeoutException {
 		if (remote)
 			link.stop_remote();
+		return link.reply_abort;
 	}
 
-	void update_state(AltosState state) throws InterruptedException, TimeoutException {
+	boolean update_state(AltosState state) throws InterruptedException, TimeoutException {
 		boolean		worked = false;
+		boolean		aborted = false;
 
 		try {
 			start_link();
 			fetch.update_state(state);
-			worked = true;
+			if (!link.has_error && !link.reply_abort)
+				worked = true;
 		} finally {
-			stop_link();
+			aborted = stop_link();
 			if (worked) {
 				if (remote)
 					state.set_rssi(link.rssi(), 0);
 				listener_state.battery = link.monitor_battery();
 			}
 		}
+		return aborted;
 	}
 
 	public void set_frequency(double in_frequency) {
@@ -102,13 +92,17 @@ public class AltosIdleMonitor extends Thread {
 	public void run() {
 		AltosState state = new AltosState();
 		try {
-			while (!link.has_error) {
+			for (;;) {
 				try {
 					link.config_data();
 					update_state(state);
 					listener.update(state, listener_state);
 				} catch (TimeoutException te) {
 				}
+				if (link.has_error || link.reply_abort) {
+					listener.failed();
+					break;
+				}
 				Thread.sleep(1000);
 			}
 		} catch (InterruptedException ie) {
diff --git a/altoslib/AltosIdleMonitorListener.java b/altoslib/AltosIdleMonitorListener.java
index 4382430c..fdf4be9d 100644
--- a/altoslib/AltosIdleMonitorListener.java
+++ b/altoslib/AltosIdleMonitorListener.java
@@ -15,8 +15,9 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public interface AltosIdleMonitorListener {
 	public void update(AltosState state, AltosListenerState listener_state);
-}
\ No newline at end of file
+	public void failed();
+}
diff --git a/altoslib/AltosIgnite.java b/altoslib/AltosIgnite.java
index b458911e..ffb6ed15 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.util.*;
 import java.io.*;
diff --git a/altoslib/AltosKML.java b/altoslib/AltosKML.java
index e701fda3..aa80fc21 100644
--- a/altoslib/AltosKML.java
+++ b/altoslib/AltosKML.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 
diff --git a/altoslib/AltosLatitude.java b/altoslib/AltosLatitude.java
index 2b507173..191a46ee 100644
--- a/altoslib/AltosLatitude.java
+++ b/altoslib/AltosLatitude.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosLatitude extends AltosLocation {
 	public String pos() { return "N"; }
diff --git a/altoslib/AltosLib.java b/altoslib/AltosLib.java
index 2e9dc648..b19f9f52 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.util.*;
 import java.io.*;
@@ -74,6 +74,7 @@ public class AltosLib {
 	public static final int AO_LOG_BARO_TREF = 3006;
 	public static final int AO_LOG_BARO_TEMPSENS = 3007;
 	public static final int AO_LOG_BARO_CRC = 3008;
+	public static final int AO_LOG_IMU_CAL = 3009;
 
 	public static final int AO_LOG_SOFTWARE_VERSION = 9999;
 
@@ -113,6 +114,9 @@ public class AltosLib {
 	public final static int product_easymini = 0x0026;
 	public final static int product_telemini = 0x0027;
 	public final static int product_easymega = 0x0028;
+	public final static int product_usbtrng = 0x0029;
+	public final static int product_usbrelay = 0x002a;
+	public final static int product_mpusb = 0x002b;
 	public final static int product_altusmetrum_min = 0x000a;
 	public final static int product_altusmetrum_max = 0x002c;
 
@@ -187,6 +191,7 @@ public class AltosLib {
 	};
 
 	public static final String launch_sites_url = "http://www.altusmetrum.org/AltOS/launch-sites.txt";
+//	public static final String launch_sites_url = "file:///home/keithp/misc/text/altusmetrum/AltOS/launch-sites.txt";
 
 	public static final int ao_telemetry_standard_len = 32;
 	public static final int ao_telemetry_0_9_len = 95;
@@ -315,11 +320,12 @@ 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_TELEMEGA = 5;
+	public static final int AO_LOG_FORMAT_TELEMEGA_OLD = 5;
 	public static final int AO_LOG_FORMAT_EASYMINI = 6;
 	public static final int AO_LOG_FORMAT_TELEMETRUM = 7;
 	public static final int AO_LOG_FORMAT_TELEMINI = 8;
 	public static final int AO_LOG_FORMAT_TELEGPS = 9;
+	public static final int AO_LOG_FORMAT_TELEMEGA = 10;
 	public static final int AO_LOG_FORMAT_NONE = 127;
 
 	public static boolean isspace(int c) {
diff --git a/altoslib/AltosLine.java b/altoslib/AltosLine.java
index f56938c6..a65ba593 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_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosLine {
 	public String	line;
diff --git a/altoslib/AltosLink.java b/altoslib/AltosLink.java
index 62bd82b9..01c37864 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.concurrent.*;
@@ -55,8 +55,11 @@ public abstract class AltosLink implements Runnable {
 
 	public void printf(String format, Object ... arguments) {
 		String	line = String.format(format, arguments);
-		if (debug)
-			pending_output.add(line);
+		if (debug) {
+			synchronized (pending_output) {
+				pending_output.add(line);
+			}
+		}
 		try {
 			print(line);
 		} catch (InterruptedException ie) {
@@ -286,12 +289,14 @@ public abstract class AltosLink implements Runnable {
 		binary_queue.put(dup);
 	}
 
-	public void flush_output() {
+	public synchronized void flush_output() {
 		if (pending_output == null)
 			return;
-		for (String s : pending_output)
-			System.out.print(s);
-		pending_output.clear();
+		synchronized (pending_output) {
+			for (String s : pending_output)
+				System.out.print(s);
+			pending_output.clear();
+		}
 	}
 
 	public void flush_input(int timeout) throws InterruptedException {
@@ -381,7 +386,7 @@ public abstract class AltosLink implements Runnable {
 		flush_output();
 	}
 
-	public void set_monitor(boolean monitor) {
+	public synchronized void set_monitor(boolean monitor) {
 		monitor_mode = monitor;
 		if (monitor)
 			printf("m %x\n", telemetry_len());
@@ -390,6 +395,10 @@ public abstract class AltosLink implements Runnable {
 		flush_output();
 	}
 
+	public synchronized boolean get_monitor() {
+		return monitor_mode;
+	}
+
 	private void set_channel(int channel) {
 		if (monitor_mode)
 			printf("m 0\nc r %d\nm %x\n",
@@ -422,8 +431,10 @@ public abstract class AltosLink implements Runnable {
 
 	public void set_callsign(String callsign) {
 		this.callsign = callsign;
-		printf ("c c %s\n", callsign);
-		flush_output();
+		if (callsign != null) {
+			printf ("c c %s\n", callsign);
+			flush_output();
+		}
 	}
 
 	public boolean is_loader() throws InterruptedException {
@@ -462,7 +473,7 @@ public abstract class AltosLink implements Runnable {
 		if (telemetry_rate < 0)
 			telemetry_rate = AltosPreferences.telemetry_rate(serial);
 		set_telemetry_rate(telemetry_rate);
-		if (callsign.equals(""))
+		if (callsign == null || callsign.equals(""))
 			callsign = AltosPreferences.callsign();
 		set_callsign(callsign);
 		printf("p\nE 0\n");
diff --git a/altoslib/AltosListenerState.java b/altoslib/AltosListenerState.java
index 054ff1d0..d7e18008 100644
--- a/altoslib/AltosListenerState.java
+++ b/altoslib/AltosListenerState.java
@@ -15,14 +15,18 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
-public class AltosListenerState {
+import java.io.*;
+
+public class AltosListenerState implements Serializable {
 	public int	crc_errors;
 	public double	battery;
+	public boolean	running;
 
 	public AltosListenerState() {
 		crc_errors = 0;
 		battery = AltosLib.MISSING;
+		running = true;
 	}
 }
diff --git a/altoslib/AltosLocation.java b/altoslib/AltosLocation.java
index 9bbbb899..b21014db 100644
--- a/altoslib/AltosLocation.java
+++ b/altoslib/AltosLocation.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public abstract class AltosLocation extends AltosUnits {
 
diff --git a/altoslib/AltosLog.java b/altoslib/AltosLog.java
index 28116e3d..9241581a 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.text.*;
diff --git a/altoslib/AltosLongitude.java b/altoslib/AltosLongitude.java
index dbcd6bf0..ff4f0c2b 100644
--- a/altoslib/AltosLongitude.java
+++ b/altoslib/AltosLongitude.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosLongitude extends AltosLocation {
 	public String pos() { return "E"; }
diff --git a/altoslib/AltosMag.java b/altoslib/AltosMag.java
index 690241f1..f7595639 100644
--- a/altoslib/AltosMag.java
+++ b/altoslib/AltosMag.java
@@ -15,24 +15,25 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.util.concurrent.*;
+import java.io.*;
 
-public class AltosMag implements Cloneable {
-	public double		x;
-	public double		y;
-	public double		z;
+public class AltosMag implements Cloneable, Serializable {
+	public int		along;
+	public int		across;
+	public int		through;
 
 	public static double counts_per_gauss = 1090;
 
-	public static double convert_gauss(int counts) {
-		return (double) counts / counts_per_gauss;
+	public static double convert_gauss(double counts) {
+		return counts / counts_per_gauss;
 	}
 
 	public boolean parse_string(String line) {
 //		if (line.startsWith("Syntax error")) {
-//			x = y = z = 0;
+//			along = across = through = 0;
 //			return true;
 //		}
 
@@ -42,9 +43,9 @@ public class AltosMag implements Cloneable {
 		String[] items = line.split("\\s+");
 
 		if (items.length >= 6) {
-			x = convert_gauss(Integer.parseInt(items[1]));
-			y = convert_gauss(Integer.parseInt(items[3]));
-			z = convert_gauss(Integer.parseInt(items[5]));
+			along = Integer.parseInt(items[1]);
+			across = Integer.parseInt(items[3]);
+			through = Integer.parseInt(items[5]);
 		}
 		return true;
 	}
@@ -52,16 +53,22 @@ public class AltosMag implements Cloneable {
 	public AltosMag clone() {
 		AltosMag n = new AltosMag();
 
-		n.x = x;
-		n.y = y;
-		n.z = z;
+		n.along = along;
+		n.across = across;
+		n.through = through;
 		return n;
 	}
 
 	public AltosMag() {
-		x = AltosLib.MISSING;
-		y = AltosLib.MISSING;
-		z = AltosLib.MISSING;
+		along = AltosLib.MISSING;
+		across = AltosLib.MISSING;
+		through = AltosLib.MISSING;
+	}
+
+	public AltosMag(int along, int across, int through) {
+		this.along = along;
+		this.across = across;
+		this.through = through;
 	}
 
 	static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
diff --git a/altoslib/AltosMma655x.java b/altoslib/AltosMma655x.java
index 7f0dab98..c0b94b8c 100644
--- a/altoslib/AltosMma655x.java
+++ b/altoslib/AltosMma655x.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.util.concurrent.*;
 
diff --git a/altoslib/AltosMs5607.java b/altoslib/AltosMs5607.java
index 81e0641c..2bd4ba8f 100644
--- a/altoslib/AltosMs5607.java
+++ b/altoslib/AltosMs5607.java
@@ -15,11 +15,12 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.util.concurrent.*;
+import java.io.*;
 
-public class AltosMs5607 {
+public class AltosMs5607 implements Serializable {
 	public int	reserved;
 	public int	sens;
 	public int	off;
@@ -126,7 +127,7 @@ public class AltosMs5607 {
 
 	static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
 		try {
-			AltosMs5607	ms5607 = new AltosMs5607(link);
+			AltosMs5607	ms5607 = new AltosMs5607(link, config_data);
 
 			if (ms5607 != null) {
 				state.set_ms5607(ms5607);
@@ -143,9 +144,17 @@ public class AltosMs5607 {
 		cc = AltosLib.MISSING;
 	}
 
-	public AltosMs5607 (AltosLink link) throws InterruptedException, TimeoutException {
+	public AltosMs5607 (AltosLink link, AltosConfigData config_data) throws InterruptedException, TimeoutException {
 		this();
-		link.printf("c s\nB\n");
+		reserved = config_data.ms5607_reserved;
+		sens = config_data.ms5607_sens;
+		off = config_data.ms5607_off;
+		tcs = config_data.ms5607_tcs;
+		tco = config_data.ms5607_tco;
+		tref = config_data.ms5607_tref;
+		tempsens = config_data.ms5607_tempsens;
+		crc = config_data.ms5607_crc;
+		link.printf("B\n");
 		for (;;) {
 			String line = link.get_reply_no_dialog(5000);
 			if (line == null) {
diff --git a/altoslib/AltosNoSymbol.java b/altoslib/AltosNoSymbol.java
index d436c3f1..77410a25 100644
--- a/altoslib/AltosNoSymbol.java
+++ b/altoslib/AltosNoSymbol.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosNoSymbol extends Exception {
 	public AltosNoSymbol(String name) {
diff --git a/altoslib/AltosOrient.java b/altoslib/AltosOrient.java
index 348c6844..8cdde750 100644
--- a/altoslib/AltosOrient.java
+++ b/altoslib/AltosOrient.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosOrient extends AltosUnits {
 
diff --git a/altoslib/AltosParse.java b/altoslib/AltosParse.java
index 9cb99a0d..2fb69c15 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.text.*;
 
diff --git a/altoslib/AltosPreferences.java b/altoslib/AltosPreferences.java
index dba57dcb..5aa45d3f 100644
--- a/altoslib/AltosPreferences.java
+++ b/altoslib/AltosPreferences.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
@@ -41,6 +41,9 @@ public class AltosPreferences {
 	/* log file format preference name */
 	public final static String logfilePreferenceFormat = "LOGFILE-%d";
 
+	/* state preference name */
+	public final static String statePreferenceFormat = "STATE-%d";
+
 	/* voice preference name */
 	public final static String voicePreference = "VOICE";
 
@@ -333,6 +336,48 @@ public class AltosPreferences {
 		}
 	}
 
+	public static void set_state(int serial, AltosState state, AltosListenerState listener_state) {
+
+		ByteArrayOutputStream baos = new ByteArrayOutputStream();
+
+		try {
+			ObjectOutputStream oos = new ObjectOutputStream(baos);
+
+			AltosSavedState	saved_state = new AltosSavedState(state, listener_state);
+			oos.writeObject(saved_state);
+
+			byte[] bytes = baos.toByteArray();
+
+			synchronized(backend) {
+				backend.putBytes(String.format(statePreferenceFormat, serial), bytes);
+				flush_preferences();
+			}
+		} catch (IOException ie) {
+		}
+	}
+
+	public static AltosSavedState state(int serial) {
+		byte[] bytes = null;
+
+		synchronized(backend) {
+			bytes = backend.getBytes(String.format(statePreferenceFormat, serial), null);
+		}
+
+		if (bytes == null)
+			return null;
+
+		ByteArrayInputStream bais = new ByteArrayInputStream(bytes);
+
+		try {
+			ObjectInputStream ois = new ObjectInputStream(bais);
+			AltosSavedState saved_state = (AltosSavedState) ois.readObject();
+			return saved_state;
+		} catch (IOException ie) {
+		} catch (ClassNotFoundException ce) {
+		}
+		return null;
+	}
+
 	public static void set_scanning_telemetry(int new_scanning_telemetry) {
 		synchronized (backend) {
 			scanning_telemetry = new_scanning_telemetry;
diff --git a/altoslib/AltosPreferencesBackend.java b/altoslib/AltosPreferencesBackend.java
index 76a99acb..c83eaa47 100644
--- a/altoslib/AltosPreferencesBackend.java
+++ b/altoslib/AltosPreferencesBackend.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.File;
 
@@ -33,6 +33,9 @@ public interface AltosPreferencesBackend {
 	public boolean getBoolean(String key, boolean def);
 	public void    putBoolean(String key, boolean value);
 
+	public byte[]  getBytes(String key, byte[] def);
+	public void    putBytes(String key, byte[] value);
+
 	public boolean nodeExists(String key);
 	public AltosPreferencesBackend node(String key);
 
diff --git a/altoslib/AltosProgrammer.java b/altoslib/AltosProgrammer.java
index 443082d5..7a92c2d0 100644
--- a/altoslib/AltosProgrammer.java
+++ b/altoslib/AltosProgrammer.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 
diff --git a/altoslib/AltosPyro.java b/altoslib/AltosPyro.java
index 60b8fe52..502e34de 100644
--- a/altoslib/AltosPyro.java
+++ b/altoslib/AltosPyro.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.util.*;
 import java.text.*;
diff --git a/altoslib/AltosQuaternion.java b/altoslib/AltosQuaternion.java
new file mode 100644
index 00000000..4ad1f3d6
--- /dev/null
+++ b/altoslib/AltosQuaternion.java
@@ -0,0 +1,150 @@
+/*
+ * Copyright © 2014 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_6;
+
+public class AltosQuaternion {
+	double	r;		/* real bit */
+	double	x, y, z;	/* imaginary bits */
+
+	public AltosQuaternion multiply(AltosQuaternion b) {
+		return new AltosQuaternion(
+			this.r * b.r - this.x * b.x - this.y * b.y - this.z * b.z,
+			this.r * b.x + this.x * b.r + this.y * b.z - this.z * b.y,
+			this.r * b.y - this.x * b.z + this.y * b.r + this.z * b.x,
+			this.r * b.z + this.x * b.y - this.y * b.x + this.z * b.r);
+	}
+
+	public AltosQuaternion conjugate() {
+		return new AltosQuaternion(
+			this.r,
+			-this.x,
+			-this.y,
+			-this.z);
+	}
+
+	public double normal() {
+		return (this.r * this.r +
+			this.x * this.x +
+			this.y * this.y +
+			this.z * this.z);
+	}
+
+	public AltosQuaternion scale(double b) {
+		return new AltosQuaternion(
+			this.r * b,
+			this.x * b,
+			this.y * b,
+			this.z * b);
+	}
+
+	public AltosQuaternion normalize() {
+		double	n = normal();
+		if (n <= 0)
+			return this;
+		return scale(1/Math.sqrt(n));
+	}
+
+	public double dot(AltosQuaternion b) {
+		return (this.r * b.r +
+			this.x * b.x +
+			this.y * b.y +
+			this.z * b.z);
+	}
+
+	public AltosQuaternion rotate(AltosQuaternion b) {
+		return (b.multiply(this)).multiply(b.conjugate());
+	}
+
+	public AltosQuaternion vectors_to_rotation(AltosQuaternion b) {
+		/*
+		 * The cross product will point orthogonally to the two
+		 * vectors, forming our rotation axis. The length will be
+		 * sin(θ), so these values are already multiplied by that.
+		 */
+
+		double x = this.y * b.z - this.z * b.y;
+		double y = this.z * b.x - this.x * b.z;
+		double z = this.x * b.y - this.y * b.x;
+
+		double s_2 = x*x + y*y + z*z;
+		double s = Math.sqrt(s_2);
+
+		/* cos(θ) = a · b / (|a| |b|).
+		 *
+		 * a and b are both unit vectors, so the divisor is one
+		 */
+		double c = this.x*b.x + this.y*b.y + this.z*b.z;
+
+		double c_half = Math.sqrt ((1 + c) / 2);
+		double s_half = Math.sqrt ((1 - c) / 2);
+
+		/*
+		 * Divide out the sine factor from the
+		 * cross product, then multiply in the
+		 * half sine factor needed for the quaternion
+		 */
+		double s_scale = s_half / s;
+
+		AltosQuaternion r = new AltosQuaternion(c_half,
+							x * s_scale,
+							y * s_scale,
+							z * s_scale);
+		return r.normalize();
+	}
+
+	public AltosQuaternion(double r, double x, double y, double z) {
+		this.r = r;
+		this.x = x;
+		this.y = y;
+		this.z = z;
+	}
+
+	public AltosQuaternion(AltosQuaternion q) {
+		this.r = q.r;
+		this.x = q.x;
+		this.y = q.y;
+		this.z = q.z;
+	}
+
+	static public AltosQuaternion vector(double x, double y, double z) {
+		return new AltosQuaternion(0, x, y, z);
+	}
+
+	static public AltosQuaternion rotation(double x, double y, double z,
+					       double s, double c) {
+		return new AltosQuaternion(c,
+					   s*x,
+					   s*y,
+					   s*z);
+	}
+
+	static public AltosQuaternion zero_rotation() {
+		return new AltosQuaternion(1, 0, 0, 0);
+	}
+
+	static public AltosQuaternion half_euler(double x, double y, double z) {
+		double	s_x = Math.sin(x), c_x = Math.cos(x);
+		double	s_y = Math.sin(y), c_y = Math.cos(y);
+		double	s_z = Math.sin(z), c_z = Math.cos(z);;
+
+		return new AltosQuaternion(c_x * c_y * c_z + s_x * s_y * s_z,
+					   s_x * c_y * c_z - c_x * s_y * s_z,
+					   c_x * s_y * c_z + s_x * c_y * s_z,
+					   c_x * c_y * s_z - s_x * s_y * c_z);
+	}
+}
diff --git a/altoslib/AltosReplayReader.java b/altoslib/AltosReplayReader.java
index 2864e02a..98f0e7d5 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
@@ -27,7 +27,6 @@ import java.util.*;
 public class AltosReplayReader extends AltosFlightReader {
 	Iterator<AltosState>	iterator;
 	File	file;
-	boolean real_time;
 
 	public AltosState read() {
 		if (iterator.hasNext())
@@ -40,22 +39,16 @@ public class AltosReplayReader extends AltosFlightReader {
 
 	public void update(AltosState state) throws InterruptedException {
 		/* Make it run in realtime after the rocket leaves the pad */
-		if (real_time && state.state > AltosLib.ao_flight_pad && state.time_change > 0)
-			Thread.sleep((int) (Math.min(state.time_change,10) * 1000));
+		if (state.state > AltosLib.ao_flight_pad && state.time_change > 0)
+			Thread.sleep((int) (Math.min(state.time_change,10) * 100));
 		state.set_received_time(System.currentTimeMillis());
 	}
 
 	public File backing_file() { return file; }
 
-	public AltosReplayReader(Iterator<AltosState> in_iterator, File in_file,
-				 boolean in_real_time) {
+	public AltosReplayReader(Iterator<AltosState> in_iterator, File in_file) {
 		iterator = in_iterator;
 		file = in_file;
-		real_time = in_real_time;
 		name = file.getName();
 	}
-
-	public AltosReplayReader(Iterator<AltosState> in_iterator, File in_file) {
-		this(in_iterator, in_file, false);
-	}
 }
diff --git a/altoslib/AltosRomconfig.java b/altoslib/AltosRomconfig.java
index d0de5492..c93a01c3 100644
--- a/altoslib/AltosRomconfig.java
+++ b/altoslib/AltosRomconfig.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 
diff --git a/altoslib/AltosRotation.java b/altoslib/AltosRotation.java
new file mode 100644
index 00000000..49225f77
--- /dev/null
+++ b/altoslib/AltosRotation.java
@@ -0,0 +1,50 @@
+/*
+ * Copyright © 2014 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_6;
+
+public class AltosRotation {
+	private AltosQuaternion		rotation;
+
+	public double tilt() {
+		double	rotz = rotation.z * rotation.z - rotation.y * rotation.y - rotation.x * rotation.x + rotation.r * rotation.r;
+
+		double tilt = Math.acos(rotz) * 180.0 / Math.PI;
+		return tilt;
+	}
+
+	public void rotate(double dt, double x, double y, double z) {
+		AltosQuaternion	rot = AltosQuaternion.half_euler(x * dt, y * dt, z * dt);
+		rotation = rot.multiply(rotation).normalize();
+	}
+
+	/* Clone an existing rotation value */
+	public AltosRotation (AltosRotation old) {
+		this.rotation = new AltosQuaternion(old.rotation);
+	}
+
+	/* Create a new rotation value given an acceleration vector pointing down */
+	public AltosRotation(double x,
+			     double y,
+			     double z,
+			     int pad_orientation) {
+		AltosQuaternion	orient = AltosQuaternion.vector(x, y, z).normalize();
+		double sky = pad_orientation == 0 ? 1 : -1;
+		AltosQuaternion	up = new AltosQuaternion(0, 0, 0, sky);
+		rotation = up.vectors_to_rotation(orient);
+	}
+}
diff --git a/altoslib/AltosSavedState.java b/altoslib/AltosSavedState.java
new file mode 100644
index 00000000..552e4533
--- /dev/null
+++ b/altoslib/AltosSavedState.java
@@ -0,0 +1,30 @@
+/*
+ * Copyright © 2014 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_6;
+
+import java.io.*;
+
+public class AltosSavedState implements Serializable {
+	public AltosState		state;
+	public AltosListenerState	listener_state;
+
+	public AltosSavedState(AltosState state, AltosListenerState listener_state) {
+		this.state = state;
+		this.listener_state = listener_state;
+	}
+}
diff --git a/altoslib/AltosSelfFlash.java b/altoslib/AltosSelfFlash.java
index 3ec69213..83be4be1 100644
--- a/altoslib/AltosSelfFlash.java
+++ b/altoslib/AltosSelfFlash.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 
diff --git a/altoslib/AltosSensorEMini.java b/altoslib/AltosSensorEMini.java
index 53a8e998..cb8356a1 100644
--- a/altoslib/AltosSensorEMini.java
+++ b/altoslib/AltosSensorEMini.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.util.concurrent.TimeoutException;
 
diff --git a/altoslib/AltosSensorMM.java b/altoslib/AltosSensorMM.java
index cdc2ac42..9d5649aa 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.util.concurrent.TimeoutException;
 
diff --git a/altoslib/AltosSensorMega.java b/altoslib/AltosSensorMega.java
index 3c7213eb..a3c2a033 100644
--- a/altoslib/AltosSensorMega.java
+++ b/altoslib/AltosSensorMega.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.util.concurrent.TimeoutException;
 
diff --git a/altoslib/AltosSensorMetrum.java b/altoslib/AltosSensorMetrum.java
index d977e886..39592b50 100644
--- a/altoslib/AltosSensorMetrum.java
+++ b/altoslib/AltosSensorMetrum.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.util.concurrent.TimeoutException;
 
diff --git a/altoslib/AltosSensorTGPS.java b/altoslib/AltosSensorTGPS.java
new file mode 100644
index 00000000..32607fba
--- /dev/null
+++ b/altoslib/AltosSensorTGPS.java
@@ -0,0 +1,55 @@
+/*
+ * Copyright © 2015 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_6;
+
+import java.util.concurrent.TimeoutException;
+
+public class AltosSensorTGPS {
+	public int	tick;
+	public int	batt;
+
+	static public void update_state(AltosState state, AltosLink link, AltosConfigData config_data) throws InterruptedException {
+		try {
+			AltosSensorTGPS	sensor_tgps = new AltosSensorTGPS(link);
+
+			if (sensor_tgps == null)
+				return;
+			state.set_battery_voltage(AltosConvert.tele_gps_voltage(sensor_tgps.batt));
+
+		} catch (TimeoutException te) {
+		}
+	}
+
+	public AltosSensorTGPS(AltosLink link) throws InterruptedException, TimeoutException {
+		String[] items = link.adc();
+		for (int i = 0; i < items.length - 1;) {
+			if (items[i].equals("tick:")) {
+				tick = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			if (items[i].equals("batt:")) {
+				batt = Integer.parseInt(items[i+1]);
+				i += 2;
+				continue;
+			}
+			i++;
+		}
+	}
+}
+
diff --git a/altoslib/AltosSensorTM.java b/altoslib/AltosSensorTM.java
index 344e7449..c82ba93c 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.util.concurrent.TimeoutException;
 
diff --git a/altoslib/AltosSensorTMini.java b/altoslib/AltosSensorTMini.java
index edd76da2..0fc70e71 100644
--- a/altoslib/AltosSensorTMini.java
+++ b/altoslib/AltosSensorTMini.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.util.concurrent.TimeoutException;
 
diff --git a/altoslib/AltosSpeed.java b/altoslib/AltosSpeed.java
index d2f86214..b714412f 100644
--- a/altoslib/AltosSpeed.java
+++ b/altoslib/AltosSpeed.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosSpeed extends AltosUnits {
 
diff --git a/altoslib/AltosState.java b/altoslib/AltosState.java
index 5fce15c4..d363027c 100644
--- a/altoslib/AltosState.java
+++ b/altoslib/AltosState.java
@@ -19,9 +19,11 @@
  * Track flight state from telemetry or eeprom data stream
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
-public class AltosState implements Cloneable {
+import java.io.*;
+
+public class AltosState implements Cloneable, Serializable {
 
 	public static final int set_position = 1;
 	public static final int set_gps = 2;
@@ -43,9 +45,9 @@ public class AltosState implements Cloneable {
 	private int	prev_tick;
 	public int	boost_tick;
 
-	class AltosValue {
-		private double	value;
-		private double	prev_value;
+	class AltosValue implements Serializable{
+		double	value;
+		double	prev_value;
 		private double	max_value;
 		private double	set_time;
 		private double	prev_set_time;
@@ -179,9 +181,20 @@ public class AltosState implements Cloneable {
 		}
 	}
 
-	class AltosCValue {
-		AltosValue	measured;
-		AltosValue	computed;
+	class AltosCValue implements Serializable {
+
+		class AltosIValue extends AltosValue implements Serializable {
+			boolean can_max() {
+				return c_can_max();
+			}
+		};
+
+		public AltosIValue	measured;
+		public AltosIValue	computed;
+
+		boolean can_max() { return true; }
+
+		boolean c_can_max() { return can_max(); }
 
 		double value() {
 			double v = measured.value();
@@ -263,8 +276,8 @@ public class AltosState implements Cloneable {
 		}
 
 		AltosCValue() {
-			measured = new AltosValue();
-			computed = new AltosValue();
+			measured = new AltosIValue();
+			computed = new AltosIValue();
 		}
 	}
 
@@ -301,7 +314,7 @@ public class AltosState implements Cloneable {
 		ground_altitude.set_measured(a, time);
 	}
 
-	class AltosGpsGroundAltitude extends AltosValue {
+	class AltosGpsGroundAltitude extends AltosValue implements Serializable {
 		void set(double a, double t) {
 			super.set(a, t);
 			pad_alt = value();
@@ -325,7 +338,7 @@ public class AltosState implements Cloneable {
 		gps_ground_altitude.set(a, time);
 	}
 
-	class AltosGroundPressure extends AltosCValue {
+	class AltosGroundPressure extends AltosCValue implements Serializable {
 		void set_filtered(double p, double time) {
 			computed.set_filtered(p, time);
 			if (!is_measured())
@@ -348,7 +361,7 @@ public class AltosState implements Cloneable {
 		ground_pressure.set_measured(pressure, time);
 	}
 
-	class AltosAltitude extends AltosCValue {
+	class AltosAltitude extends AltosCValue implements Serializable {
 
 		private void set_speed(AltosValue v) {
 			if (!acceleration.is_measured() || !ascent)
@@ -370,7 +383,7 @@ public class AltosState implements Cloneable {
 
 	private AltosAltitude	altitude;
 
-	class AltosGpsAltitude extends AltosValue {
+	class AltosGpsAltitude extends AltosValue implements Serializable {
 
 		private void set_gps_height() {
 			double	a = value();
@@ -453,7 +466,7 @@ public class AltosState implements Cloneable {
 		return gps_speed.max();
 	}
 
-	class AltosPressure extends AltosValue {
+	class AltosPressure extends AltosValue implements Serializable {
 		void set(double p, double time) {
 			super.set(p, time);
 			if (state == AltosLib.ao_flight_pad)
@@ -523,7 +536,7 @@ public class AltosState implements Cloneable {
 		return AltosLib.MISSING;
 	}
 
-	class AltosSpeed extends AltosCValue {
+	class AltosSpeed extends AltosCValue implements Serializable {
 
 		boolean can_max() {
 			return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
@@ -577,7 +590,7 @@ public class AltosState implements Cloneable {
 		return AltosLib.MISSING;
 	}
 
-	class AltosAccel extends AltosCValue {
+	class AltosAccel extends AltosCValue implements Serializable {
 
 		boolean can_max() {
 			return state < AltosLib.ao_flight_fast || state == AltosLib.ao_flight_stateless;
@@ -600,10 +613,10 @@ public class AltosState implements Cloneable {
 		return acceleration.max();
 	}
 
-	public AltosValue	orient;
+	public AltosCValue	orient;
 
 	public void set_orient(double new_orient) {
-		orient.set(new_orient, time);
+		orient.set_measured(new_orient, time);
 	}
 
 	public double orient() {
@@ -713,7 +726,7 @@ public class AltosState implements Cloneable {
 		pressure = new AltosPressure();
 		speed = new AltosSpeed();
 		acceleration = new AltosAccel();
-		orient = new AltosValue();
+		orient = new AltosCValue();
 
 		temperature = AltosLib.MISSING;
 		battery_voltage = AltosLib.MISSING;
@@ -733,7 +746,24 @@ public class AltosState implements Cloneable {
 		gps_pending = false;
 
 		imu = null;
+		last_imu_time = AltosLib.MISSING;
+		rotation = null;
+		ground_rotation = null;
+
 		mag = null;
+		accel_zero_along = AltosLib.MISSING;
+		accel_zero_across = AltosLib.MISSING;
+		accel_zero_through = AltosLib.MISSING;
+
+		accel_ground_along = AltosLib.MISSING;
+		accel_ground_across = AltosLib.MISSING;
+		accel_ground_through = AltosLib.MISSING;
+
+		pad_orientation = AltosLib.MISSING;
+
+		gyro_zero_roll = AltosLib.MISSING;
+		gyro_zero_pitch = AltosLib.MISSING;
+		gyro_zero_yaw = AltosLib.MISSING;
 
 		set_npad(0);
 		ngps = 0;
@@ -861,6 +891,27 @@ public class AltosState implements Cloneable {
 			imu = old.imu.clone();
 		else
 			imu = null;
+		last_imu_time = old.last_imu_time;
+
+		if (old.rotation != null)
+			rotation = new AltosRotation (old.rotation);
+
+		if (old.ground_rotation != null) {
+			ground_rotation = new AltosRotation(old.ground_rotation);
+		}
+
+		accel_zero_along = old.accel_zero_along;
+		accel_zero_across = old.accel_zero_across;
+		accel_zero_through = old.accel_zero_through;
+
+		accel_ground_along = old.accel_ground_along;
+		accel_ground_across = old.accel_ground_across;
+		accel_ground_through = old.accel_ground_through;
+		pad_orientation = old.pad_orientation;
+
+		gyro_zero_roll = old.gyro_zero_roll;
+		gyro_zero_pitch = old.gyro_zero_pitch;
+		gyro_zero_yaw = old.gyro_zero_yaw;
 
 		if (old.mag != null)
 			mag = old.mag.clone();
@@ -1112,16 +1163,170 @@ public class AltosState implements Cloneable {
 		}
 	}
 
+
+	public double	accel_zero_along;
+	public double	accel_zero_across;
+	public double	accel_zero_through;
+
+	public AltosRotation	rotation;
+	public AltosRotation	ground_rotation;
+
+	public void set_accel_zero(double zero_along, double zero_across, double zero_through) {
+		if (zero_along != AltosLib.MISSING) {
+			accel_zero_along = zero_along;
+			accel_zero_across = zero_across;
+			accel_zero_through = zero_through;
+		}
+	}
+
+	public int pad_orientation;
+
+	public double	accel_ground_along, accel_ground_across, accel_ground_through;
+
+	void update_pad_rotation() {
+		if (pad_orientation != AltosLib.MISSING && accel_ground_along != AltosLib.MISSING) {
+			rotation = new AltosRotation(AltosIMU.convert_accel(accel_ground_across - accel_zero_across),
+						     AltosIMU.convert_accel(accel_ground_through - accel_zero_through),
+						     AltosIMU.convert_accel(accel_ground_along - accel_zero_along),
+						     pad_orientation);
+			ground_rotation = rotation;
+			orient.set_computed(rotation.tilt(), time);
+		}
+	}
+
+	public void set_accel_ground(double ground_along, double ground_across, double ground_through) {
+		accel_ground_along = ground_along;
+		accel_ground_across = ground_across;
+		accel_ground_through = ground_through;
+		update_pad_rotation();
+	}
+
+	public void set_pad_orientation(int pad_orientation) {
+		this.pad_orientation = pad_orientation;
+		update_pad_rotation();
+	}
+
+	public double	gyro_zero_roll;
+	public double	gyro_zero_pitch;
+	public double	gyro_zero_yaw;
+
+	public void set_gyro_zero(double roll, double pitch, double yaw) {
+		if (roll != AltosLib.MISSING) {
+			gyro_zero_roll = roll;
+			gyro_zero_pitch = pitch;
+			gyro_zero_yaw = yaw;
+		}
+	}
+
+	public double	last_imu_time;
+
+	private double radians(double degrees) {
+		if (degrees == AltosLib.MISSING)
+			return AltosLib.MISSING;
+		return degrees * Math.PI / 180.0;
+	}
+
+	private void update_orient() {
+		if (last_imu_time != AltosLib.MISSING) {
+			double	t = time - last_imu_time;
+
+			double	pitch = radians(gyro_pitch());
+			double	yaw = radians(gyro_yaw());
+			double	roll = radians(gyro_roll());
+
+			if (t > 0 & pitch != AltosLib.MISSING && rotation != null) {
+				rotation.rotate(t, pitch, yaw, roll);
+				orient.set_computed(rotation.tilt(), time);
+			}
+		}
+		last_imu_time = time;
+	}
+
 	public void set_imu(AltosIMU imu) {
 		if (imu != null)
 			imu = imu.clone();
 		this.imu = imu;
+		update_orient();
+	}
+
+	private double gyro_zero_overflow(double first) {
+		double v = first / 128.0;
+		if (v < 0)
+			v = Math.ceil(v);
+		else
+			v = Math.floor(v);
+		return v * 128.0;
+	}
+
+	public void check_imu_wrap(AltosIMU imu) {
+		if (this.imu == null) {
+			gyro_zero_roll += gyro_zero_overflow(imu.gyro_roll);
+			gyro_zero_pitch += gyro_zero_overflow(imu.gyro_pitch);
+			gyro_zero_yaw += gyro_zero_overflow(imu.gyro_yaw);
+		}
+	}
+
+	public double accel_along() {
+		if (imu != null && accel_zero_along != AltosLib.MISSING)
+			return AltosIMU.convert_accel(imu.accel_along - accel_zero_along);
+		return AltosLib.MISSING;
+	}
+
+	public double accel_across() {
+		if (imu != null && accel_zero_across != AltosLib.MISSING)
+			return AltosIMU.convert_accel(imu.accel_across - accel_zero_across);
+		return AltosLib.MISSING;
+	}
+
+	public double accel_through() {
+		if (imu != null && accel_zero_through != AltosLib.MISSING)
+			return AltosIMU.convert_accel(imu.accel_through - accel_zero_through);
+		return AltosLib.MISSING;
+	}
+
+	public double gyro_roll() {
+		if (imu != null && gyro_zero_roll != AltosLib.MISSING) {
+			return AltosIMU.convert_gyro(imu.gyro_roll - gyro_zero_roll);
+		}
+		return AltosLib.MISSING;
+	}
+
+	public double gyro_pitch() {
+		if (imu != null && gyro_zero_pitch != AltosLib.MISSING) {
+			return AltosIMU.convert_gyro(imu.gyro_pitch - gyro_zero_pitch);
+		}
+		return AltosLib.MISSING;
+	}
+
+	public double gyro_yaw() {
+		if (imu != null && gyro_zero_yaw != AltosLib.MISSING) {
+			return AltosIMU.convert_gyro(imu.gyro_yaw - gyro_zero_yaw);
+		}
+		return AltosLib.MISSING;
 	}
 
 	public void set_mag(AltosMag mag) {
 		this.mag = mag.clone();
 	}
 
+	public double mag_along() {
+		if (mag != null)
+			return AltosMag.convert_gauss(mag.along);
+		return AltosLib.MISSING;
+	}
+
+	public double mag_across() {
+		if (mag != null)
+			return AltosMag.convert_gauss(mag.across);
+		return AltosLib.MISSING;
+	}
+
+	public double mag_through() {
+		if (mag != null)
+			return AltosMag.convert_gauss(mag.through);
+		return AltosLib.MISSING;
+	}
+
 	public AltosMs5607 make_baro() {
 		if (baro == null)
 			baro = new AltosMs5607();
diff --git a/altoslib/AltosStateIterable.java b/altoslib/AltosStateIterable.java
index 4154b71c..3b58fc32 100644
--- a/altoslib/AltosStateIterable.java
+++ b/altoslib/AltosStateIterable.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
diff --git a/altoslib/AltosStateUpdate.java b/altoslib/AltosStateUpdate.java
index 70530f75..93b9f1c0 100644
--- a/altoslib/AltosStateUpdate.java
+++ b/altoslib/AltosStateUpdate.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public interface AltosStateUpdate {
 	public void	update_state(AltosState state) throws InterruptedException;
diff --git a/altoslib/AltosTelemetry.java b/altoslib/AltosTelemetry.java
index a123d752..449384d5 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.text.*;
 
diff --git a/altoslib/AltosTelemetryConfiguration.java b/altoslib/AltosTelemetryConfiguration.java
index f578e6ad..8c922b03 100644
--- a/altoslib/AltosTelemetryConfiguration.java
+++ b/altoslib/AltosTelemetryConfiguration.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 
 public class AltosTelemetryConfiguration extends AltosTelemetryStandard {
diff --git a/altoslib/AltosTelemetryFile.java b/altoslib/AltosTelemetryFile.java
index 15344b8d..738e4dd7 100644
--- a/altoslib/AltosTelemetryFile.java
+++ b/altoslib/AltosTelemetryFile.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
diff --git a/altoslib/AltosTelemetryIterable.java b/altoslib/AltosTelemetryIterable.java
index ac42597d..131389d5 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.io.*;
 import java.util.*;
diff --git a/altoslib/AltosTelemetryLegacy.java b/altoslib/AltosTelemetryLegacy.java
index 72a8bc4a..923d139e 100644
--- a/altoslib/AltosTelemetryLegacy.java
+++ b/altoslib/AltosTelemetryLegacy.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 import java.text.*;
 
diff --git a/altoslib/AltosTelemetryLocation.java b/altoslib/AltosTelemetryLocation.java
index 427ae16e..85da27d5 100644
--- a/altoslib/AltosTelemetryLocation.java
+++ b/altoslib/AltosTelemetryLocation.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 
 public class AltosTelemetryLocation extends AltosTelemetryStandard {
diff --git a/altoslib/AltosTelemetryMap.java b/altoslib/AltosTelemetryMap.java
index 758311eb..e8c02e9b 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_5;
+package org.altusmetrum.altoslib_6;
 import java.text.*;
 import java.util.HashMap;
 
diff --git a/altoslib/AltosTelemetryMegaData.java b/altoslib/AltosTelemetryMegaData.java
index d949c02f..2b80df4a 100644
--- a/altoslib/AltosTelemetryMegaData.java
+++ b/altoslib/AltosTelemetryMegaData.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosTelemetryMegaData extends AltosTelemetryStandard {
 	int	state;
diff --git a/altoslib/AltosTelemetryMegaSensor.java b/altoslib/AltosTelemetryMegaSensor.java
index 1b568c88..a01c0826 100644
--- a/altoslib/AltosTelemetryMegaSensor.java
+++ b/altoslib/AltosTelemetryMegaSensor.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
 	int	accel;
@@ -66,24 +66,13 @@ public class AltosTelemetryMegaSensor extends AltosTelemetryStandard {
 
 		state.set_orient(orient);
 
-		AltosIMU imu = new AltosIMU();
+		state.set_imu(new AltosIMU(accel_y,	/* along */
+					   accel_x,	/* across */
+					   accel_z,	/* through */
+					   gyro_y,	/* along */
+					   gyro_x,	/* across */
+					   gyro_z));	/* through */
 
-		imu.accel_x = AltosIMU.convert_accel(accel_x);
-		imu.accel_y = AltosIMU.convert_accel(accel_y);
-		imu.accel_z = AltosIMU.convert_accel(accel_z);
-
-		imu.gyro_x = AltosIMU.convert_gyro(gyro_x);
-		imu.gyro_y = AltosIMU.convert_gyro(gyro_y);
-		imu.gyro_z = AltosIMU.convert_gyro(gyro_z);
-
-		state.imu = imu;
-
-		AltosMag mag = new AltosMag();
-
-		mag.x = AltosMag.convert_gauss(mag_x);
-		mag.y = AltosMag.convert_gauss(mag_y);
-		mag.z = AltosMag.convert_gauss(mag_z);
-
-		state.mag = mag;
+		state.set_mag(new AltosMag(mag_x, mag_y, mag_z));
 	}
 }
diff --git a/altoslib/AltosTelemetryMetrumData.java b/altoslib/AltosTelemetryMetrumData.java
index 3377d969..e53f1283 100644
--- a/altoslib/AltosTelemetryMetrumData.java
+++ b/altoslib/AltosTelemetryMetrumData.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 
 public class AltosTelemetryMetrumData extends AltosTelemetryStandard {
diff --git a/altoslib/AltosTelemetryMetrumSensor.java b/altoslib/AltosTelemetryMetrumSensor.java
index beab6da9..415b00a6 100644
--- a/altoslib/AltosTelemetryMetrumSensor.java
+++ b/altoslib/AltosTelemetryMetrumSensor.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 
 public class AltosTelemetryMetrumSensor extends AltosTelemetryStandard {
diff --git a/altoslib/AltosTelemetryMini.java b/altoslib/AltosTelemetryMini.java
index 221bb67c..02537c9c 100644
--- a/altoslib/AltosTelemetryMini.java
+++ b/altoslib/AltosTelemetryMini.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 
 public class AltosTelemetryMini extends AltosTelemetryStandard {
diff --git a/altoslib/AltosTelemetryRaw.java b/altoslib/AltosTelemetryRaw.java
index 2a535e84..4254fc83 100644
--- a/altoslib/AltosTelemetryRaw.java
+++ b/altoslib/AltosTelemetryRaw.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosTelemetryRaw extends AltosTelemetryStandard {
 	public AltosTelemetryRaw(int[] bytes) {
diff --git a/altoslib/AltosTelemetryReader.java b/altoslib/AltosTelemetryReader.java
index 20526a2c..908fb5c7 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_5;
+package org.altusmetrum.altoslib_6;
 
 import java.text.*;
 import java.io.*;
@@ -28,20 +28,16 @@ public class AltosTelemetryReader extends AltosFlightReader {
 	int		telemetry;
 	int		telemetry_rate;
 	AltosState	state = null;
-	AltosFlightReader	stacked;
 
 	LinkedBlockingQueue<AltosLine> telem;
 
 	public AltosState read() throws InterruptedException, ParseException, AltosCRCException, IOException {
-		if (stacked != null) {
-			state = stacked.read();
-			if (state != null)
-				return state;
-			stacked = null;
-		}
-		AltosLine l = telem.take();
-		if (l.line == null)
-			throw new IOException("IO error");
+		AltosLine l;
+		do {
+			l = telem.take();
+			if (l.line == null)
+				throw new IOException("IO error");
+		} while (!link.get_monitor());
 		AltosTelemetry	telem = AltosTelemetry.parse(l.line);
 		if (state == null)
 			state = new AltosState();
@@ -57,15 +53,11 @@ public class AltosTelemetryReader extends AltosFlightReader {
 
 	public void reset() {
 		flush();
+		state = null;
 	}
 
 	public void close(boolean interrupted) {
 
-		if (stacked != null) {
-			stacked.close(interrupted);
-			stacked = null;
-		}
-
 		link.remove_monitor(telem);
 		log.close();
 		try {
@@ -161,10 +153,9 @@ public class AltosTelemetryReader extends AltosFlightReader {
 		return link.monitor_battery();
 	}
 
-	public AltosTelemetryReader (AltosLink in_link, AltosFlightReader in_stacked)
+	public AltosTelemetryReader (AltosLink in_link)
 		throws IOException, InterruptedException, TimeoutException {
 		link = in_link;
-		stacked = in_stacked;
 		boolean success = false;
 		try {
 			log = new AltosLog(link);
@@ -183,22 +174,4 @@ public class AltosTelemetryReader extends AltosFlightReader {
 				close(true);
 		}
 	}
-
-	private static AltosFlightReader existing_data(AltosLink link) {
-		if (link == null)
-			return null;
-
-		File	file = AltosPreferences.logfile(link.serial);
-		if (file != null) {
-			AltosStateIterable	iterable = AltosStateIterable.iterable(file);
-			if (iterable != null)
-				return new AltosReplayReader(iterable.iterator(), file, false);
-		}
-		return null;
-	}
-
-	public AltosTelemetryReader(AltosLink link)
-		throws IOException, InterruptedException, TimeoutException {
-		this(link, null);
-	}
 }
diff --git a/altoslib/AltosTelemetrySatellite.java b/altoslib/AltosTelemetrySatellite.java
index d1cdaf6d..474789ba 100644
--- a/altoslib/AltosTelemetrySatellite.java
+++ b/altoslib/AltosTelemetrySatellite.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosTelemetrySatellite extends AltosTelemetryStandard {
 	int		channels;
diff --git a/altoslib/AltosTelemetrySensor.java b/altoslib/AltosTelemetrySensor.java
index fc3fe858..b0c84fd3 100644
--- a/altoslib/AltosTelemetrySensor.java
+++ b/altoslib/AltosTelemetrySensor.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 
 public class AltosTelemetrySensor extends AltosTelemetryStandard {
diff --git a/altoslib/AltosTelemetryStandard.java b/altoslib/AltosTelemetryStandard.java
index f4dfd8e9..fb8a162e 100644
--- a/altoslib/AltosTelemetryStandard.java
+++ b/altoslib/AltosTelemetryStandard.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public abstract class AltosTelemetryStandard extends AltosTelemetry {
 	int[]	bytes;
diff --git a/altoslib/AltosTemperature.java b/altoslib/AltosTemperature.java
index e654fada..494f4e3e 100644
--- a/altoslib/AltosTemperature.java
+++ b/altoslib/AltosTemperature.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosTemperature extends AltosUnits {
 
diff --git a/altoslib/AltosUnits.java b/altoslib/AltosUnits.java
index dbdb7882..f6e34e77 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_5;
+package org.altusmetrum.altoslib_6;
 
 public abstract class AltosUnits {
 
diff --git a/altoslib/AltosUnitsListener.java b/altoslib/AltosUnitsListener.java
index 664aed67..1b66eb45 100644
--- a/altoslib/AltosUnitsListener.java
+++ b/altoslib/AltosUnitsListener.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public interface AltosUnitsListener {
 	public void units_changed(boolean imperial_units);
diff --git a/altoslib/AltosVoltage.java b/altoslib/AltosVoltage.java
index 22bd1aee..986d74b4 100644
--- a/altoslib/AltosVoltage.java
+++ b/altoslib/AltosVoltage.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public class AltosVoltage extends AltosUnits {
 
diff --git a/altoslib/AltosWriter.java b/altoslib/AltosWriter.java
index fb208b02..b125bd87 100644
--- a/altoslib/AltosWriter.java
+++ b/altoslib/AltosWriter.java
@@ -15,7 +15,7 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  */
 
-package org.altusmetrum.altoslib_5;
+package org.altusmetrum.altoslib_6;
 
 public interface AltosWriter {
 
diff --git a/altoslib/Makefile.am b/altoslib/Makefile.am
index 0ad9b7da..c640c69c 100644
--- a/altoslib/Makefile.am
+++ b/altoslib/Makefile.am
@@ -82,6 +82,7 @@ altoslib_JAVA = \
 	AltosProgrammer.java \
 	AltosReplayReader.java \
 	AltosRomconfig.java \
+	AltosSavedState.java \
 	AltosSelfFlash.java \
 	AltosSensorMM.java \
 	AltosSensorEMini.java \
@@ -89,6 +90,7 @@ altoslib_JAVA = \
 	AltosSensorTMini.java \
 	AltosSensorMega.java \
 	AltosSensorMetrum.java \
+	AltosSensorTGPS.java \
 	AltosState.java \
 	AltosStateIterable.java \
 	AltosStateUpdate.java \
@@ -124,7 +126,9 @@ altoslib_JAVA = \
 	AltosLatitude.java \
 	AltosLongitude.java \
 	AltosPyro.java \
-	AltosWriter.java
+	AltosWriter.java \
+	AltosQuaternion.java \
+	AltosRotation.java
 
 JAR=altoslib_$(ALTOSLIB_VERSION).jar