altosui: Split out lots of the altosui code to a shared library

To be shared with the Android application eventually

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

24 files changed, 2732 insertions, 0 deletions

diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosCRCException.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosCRCException.java
new file mode 100644
index 00000000..4a529bcf
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosCRCException.java
@@ -0,0 +1,26 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+public class AltosCRCException extends Exception {
+	public int rssi;
+
+	public AltosCRCException (int in_rssi) {
+		rssi = in_rssi;
+	}
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosConvert.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosConvert.java
new file mode 100644
index 00000000..db7039ec
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosConvert.java
@@ -0,0 +1,255 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+/*
+ * Sensor data conversion functions
+ */
+package altosui;
+
+public class AltosConvert {
+	/*
+	 * Pressure Sensor Model, version 1.1
+	 *
+	 * written by Holly Grimes
+	 *
+	 * Uses the International Standard Atmosphere as described in
+	 *   "A Quick Derivation relating altitude to air pressure" (version 1.03)
+	 *    from the Portland State Aerospace Society, except that the atmosphere
+	 *    is divided into layers with each layer having a different lapse rate.
+	 *
+	 * Lapse rate data for each layer was obtained from Wikipedia on Sept. 1, 2007
+	 *    at site <http://en.wikipedia.org/wiki/International_Standard_Atmosphere
+	 *
+	 * Height measurements use the local tangent plane.  The postive z-direction is up.
+	 *
+	 * All measurements are given in SI units (Kelvin, Pascal, meter, meters/second^2).
+	 *   The lapse rate is given in Kelvin/meter, the gas constant for air is given
+	 *   in Joules/(kilogram-Kelvin).
+	 */
+
+	static final double GRAVITATIONAL_ACCELERATION = -9.80665;
+	static final double AIR_GAS_CONSTANT		= 287.053;
+	static final double NUMBER_OF_LAYERS		= 7;
+	static final double MAXIMUM_ALTITUDE		= 84852.0;
+	static final double MINIMUM_PRESSURE		= 0.3734;
+	static final double LAYER0_BASE_TEMPERATURE	= 288.15;
+	static final double LAYER0_BASE_PRESSURE	= 101325;
+
+	/* lapse rate and base altitude for each layer in the atmosphere */
+	static final double[] lapse_rate = {
+		-0.0065, 0.0, 0.001, 0.0028, 0.0, -0.0028, -0.002
+	};
+
+	static final int[] base_altitude = {
+		0, 11000, 20000, 32000, 47000, 51000, 71000
+	};
+
+	/* outputs atmospheric pressure associated with the given altitude.
+	 * altitudes are measured with respect to the mean sea level
+	 */
+	static double
+	altitude_to_pressure(double altitude)
+	{
+		double base_temperature = LAYER0_BASE_TEMPERATURE;
+		double base_pressure = LAYER0_BASE_PRESSURE;
+
+		double pressure;
+		double base; /* base for function to determine pressure */
+		double exponent; /* exponent for function to determine pressure */
+		int layer_number; /* identifies layer in the atmosphere */
+		double delta_z; /* difference between two altitudes */
+
+		if (altitude > MAXIMUM_ALTITUDE) /* FIX ME: use sensor data to improve model */
+			return 0;
+
+		/* calculate the base temperature and pressure for the atmospheric layer
+		   associated with the inputted altitude */
+		for(layer_number = 0; layer_number < NUMBER_OF_LAYERS - 1 && altitude > base_altitude[layer_number + 1]; layer_number++) {
+			delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number];
+			if (lapse_rate[layer_number] == 0.0) {
+				exponent = GRAVITATIONAL_ACCELERATION * delta_z
+					/ AIR_GAS_CONSTANT / base_temperature;
+				base_pressure *= Math.exp(exponent);
+			}
+			else {
+				base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+				exponent = GRAVITATIONAL_ACCELERATION /
+					(AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+				base_pressure *= Math.pow(base, exponent);
+			}
+			base_temperature += delta_z * lapse_rate[layer_number];
+		}
+
+		/* calculate the pressure at the inputted altitude */
+		delta_z = altitude - base_altitude[layer_number];
+		if (lapse_rate[layer_number] == 0.0) {
+			exponent = GRAVITATIONAL_ACCELERATION * delta_z
+				/ AIR_GAS_CONSTANT / base_temperature;
+			pressure = base_pressure * Math.exp(exponent);
+		}
+		else {
+			base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+			exponent = GRAVITATIONAL_ACCELERATION /
+				(AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+			pressure = base_pressure * Math.pow(base, exponent);
+		}
+
+		return pressure;
+	}
+
+
+/* outputs the altitude associated with the given pressure. the altitude
+   returned is measured with respect to the mean sea level */
+	static double
+	pressure_to_altitude(double pressure)
+	{
+
+		double next_base_temperature = LAYER0_BASE_TEMPERATURE;
+		double next_base_pressure = LAYER0_BASE_PRESSURE;
+
+		double altitude;
+		double base_pressure;
+		double base_temperature;
+		double base; /* base for function to determine base pressure of next layer */
+		double exponent; /* exponent for function to determine base pressure
+				    of next layer */
+		double coefficient;
+		int layer_number; /* identifies layer in the atmosphere */
+		int delta_z; /* difference between two altitudes */
+
+		if (pressure < 0)  /* illegal pressure */
+			return -1;
+		if (pressure < MINIMUM_PRESSURE) /* FIX ME: use sensor data to improve model */
+			return MAXIMUM_ALTITUDE;
+
+		/* calculate the base temperature and pressure for the atmospheric layer
+		   associated with the inputted pressure. */
+		layer_number = -1;
+		do {
+			layer_number++;
+			base_pressure = next_base_pressure;
+			base_temperature = next_base_temperature;
+			delta_z = base_altitude[layer_number + 1] - base_altitude[layer_number];
+			if (lapse_rate[layer_number] == 0.0) {
+				exponent = GRAVITATIONAL_ACCELERATION * delta_z
+					/ AIR_GAS_CONSTANT / base_temperature;
+				next_base_pressure *= Math.exp(exponent);
+			}
+			else {
+				base = (lapse_rate[layer_number] * delta_z / base_temperature) + 1.0;
+				exponent = GRAVITATIONAL_ACCELERATION /
+					(AIR_GAS_CONSTANT * lapse_rate[layer_number]);
+				next_base_pressure *= Math.pow(base, exponent);
+			}
+			next_base_temperature += delta_z * lapse_rate[layer_number];
+		}
+		while(layer_number < NUMBER_OF_LAYERS - 1 && pressure < next_base_pressure);
+
+		/* calculate the altitude associated with the inputted pressure */
+		if (lapse_rate[layer_number] == 0.0) {
+			coefficient = (AIR_GAS_CONSTANT / GRAVITATIONAL_ACCELERATION)
+				* base_temperature;
+			altitude = base_altitude[layer_number]
+				+ coefficient * Math.log(pressure / base_pressure);
+		}
+		else {
+			base = pressure / base_pressure;
+			exponent = AIR_GAS_CONSTANT * lapse_rate[layer_number]
+				/ GRAVITATIONAL_ACCELERATION;
+			coefficient = base_temperature / lapse_rate[layer_number];
+			altitude = base_altitude[layer_number]
+				+ coefficient * (Math.pow(base, exponent) - 1);
+		}
+
+		return altitude;
+	}
+
+	static double
+	cc_battery_to_voltage(double battery)
+	{
+		return battery / 32767.0 * 5.0;
+	}
+
+	static double
+	cc_ignitor_to_voltage(double ignite)
+	{
+		return ignite / 32767 * 15.0;
+	}
+
+	static double radio_to_frequency(int setting, int cal, int channel) {
+		double	f;
+
+		if (setting <= 0)
+			setting = cal;
+		f = 434.550 * setting / cal;
+		/* Round to nearest 50KHz */
+		f = Math.floor (20.0 * f + 0.5) / 20.0;
+		return f + channel * 0.100;
+	}
+
+	static int radio_frequency_to_setting(double frequency, int cal) {
+		double	set = frequency / 434.550 * cal;
+
+		return (int) Math.floor (set + 0.5);
+	}
+
+	static int radio_frequency_to_channel(double frequency) {
+		int	channel = (int) Math.floor ((frequency - 434.550) / 0.100 + 0.5);
+
+		if (channel < 0)
+			channel = 0;
+		if (channel > 9)
+			channel = 9;
+		return channel;
+	}
+
+	static double radio_channel_to_frequency(int channel) {
+		return 434.550 + channel * 0.100;
+	}
+
+	static int[] ParseHex(String line) {
+		String[] tokens = line.split("\\s+");
+		int[] array = new int[tokens.length];
+
+		for (int i = 0; i < tokens.length; i++)
+			try {
+				array[i] = Integer.parseInt(tokens[i], 16);
+			} catch (NumberFormatException ne) {
+				return null;
+			}
+		return array;
+	}
+
+	static double meters_to_feet(double meters) {
+		return meters * (100 / (2.54 * 12));
+	}
+
+	static double meters_to_mach(double meters) {
+		return meters / 343;		/* something close to mach at usual rocket sites */
+	}
+
+	static double meters_to_g(double meters) {
+		return meters / 9.80665;
+	}
+
+	static int checksum(int[] data, int start, int length) {
+		int	csum = 0x5a;
+		for (int i = 0; i < length; i++)
+			csum += data[i + start];
+		return csum & 0xff;
+	}
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosFontListener.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosFontListener.java
new file mode 100644
index 00000000..0dda0f29
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosFontListener.java
@@ -0,0 +1,22 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+public interface AltosFontListener {
+	void font_size_changed(int font_size);
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosFrequency.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosFrequency.java
new file mode 100644
index 00000000..0617ce74
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosFrequency.java
@@ -0,0 +1,57 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import javax.swing.event.*;
+import javax.swing.plaf.basic.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.*;
+
+public class AltosFrequency {
+	double	frequency;
+	String	description;
+
+	public String toString() {
+		return String.format("%7.3f MHz %-20.20s",
+				     frequency, description);
+	}
+
+	public String toShortString() {
+		return String.format("%7.3f MHz %s",
+				     frequency, description);
+	}
+
+	public boolean close(double f) {
+		double	diff = Math.abs(frequency - f);
+
+		return diff < 0.010;
+	}
+
+	public AltosFrequency(double f, String d) {
+		frequency = f;
+		description = d;
+	}
+}
\ No newline at end of file
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosGPS.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosGPS.java
new file mode 100644
index 00000000..b5df7c9a
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosGPS.java
@@ -0,0 +1,248 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.lang.*;
+import java.text.*;
+
+public class AltosGPS {
+
+	final static int MISSING = AltosRecord.MISSING;
+
+	int	nsat;
+	boolean	locked;
+	boolean	connected;
+	double	lat;		/* degrees (+N -S) */
+	double	lon;		/* degrees (+E -W) */
+	int	alt;		/* m */
+	int	year;
+	int	month;
+	int	day;
+	int	hour;
+	int	minute;
+	int	second;
+
+	double	ground_speed;	/* m/s */
+	int	course;		/* degrees */
+	double	climb_rate;	/* m/s */
+	double	hdop;		/* unitless */
+	double	vdop;		/* unitless */
+	int	h_error;	/* m */
+	int	v_error;	/* m */
+
+	AltosGPSSat[] cc_gps_sat;	/* tracking data */
+
+	void ParseGPSDate(String date) throws ParseException {
+		String[] ymd = date.split("-");
+		if (ymd.length != 3)
+			throw new ParseException("error parsing GPS date " + date + " got " + ymd.length, 0);
+		year = AltosParse.parse_int(ymd[0]);
+		month = AltosParse.parse_int(ymd[1]);
+		day = AltosParse.parse_int(ymd[2]);
+	}
+
+	void ParseGPSTime(String time) throws ParseException {
+		String[] hms = time.split(":");
+		if (hms.length != 3)
+			throw new ParseException("Error parsing GPS time " + time + " got " + hms.length, 0);
+		hour = AltosParse.parse_int(hms[0]);
+		minute = AltosParse.parse_int(hms[1]);
+		second = AltosParse.parse_int(hms[2]);
+	}
+
+	void ClearGPSTime() {
+		year = month = day = 0;
+		hour = minute = second = 0;
+	}
+
+	public AltosGPS(AltosTelemetryMap map) throws ParseException {
+		String	state = map.get_string(AltosTelemetry.AO_TELEM_GPS_STATE,
+					       AltosTelemetry.AO_TELEM_GPS_STATE_ERROR);
+
+		nsat = map.get_int(AltosTelemetry.AO_TELEM_GPS_NUM_SAT, 0);
+		if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_LOCKED)) {
+			connected = true;
+			locked = true;
+			lat = map.get_double(AltosTelemetry.AO_TELEM_GPS_LATITUDE, MISSING, 1.0e-7);
+			lon = map.get_double(AltosTelemetry.AO_TELEM_GPS_LONGITUDE, MISSING, 1.0e-7);
+			alt = map.get_int(AltosTelemetry.AO_TELEM_GPS_ALTITUDE, MISSING);
+			year = map.get_int(AltosTelemetry.AO_TELEM_GPS_YEAR, MISSING);
+			if (year != MISSING)
+				year += 2000;
+			month = map.get_int(AltosTelemetry.AO_TELEM_GPS_MONTH, MISSING);
+			day = map.get_int(AltosTelemetry.AO_TELEM_GPS_DAY, MISSING);
+
+			hour = map.get_int(AltosTelemetry.AO_TELEM_GPS_HOUR, 0);
+			minute = map.get_int(AltosTelemetry.AO_TELEM_GPS_MINUTE, 0);
+			second = map.get_int(AltosTelemetry.AO_TELEM_GPS_SECOND, 0);
+
+			ground_speed = map.get_double(AltosTelemetry.AO_TELEM_GPS_HORIZONTAL_SPEED,
+						      AltosRecord.MISSING, 1/100.0);
+			course = map.get_int(AltosTelemetry.AO_TELEM_GPS_COURSE,
+					     AltosRecord.MISSING);
+			hdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_HDOP, MISSING, 1.0);
+			vdop = map.get_double(AltosTelemetry.AO_TELEM_GPS_VDOP, MISSING, 1.0);
+			h_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_HERROR, MISSING);
+			v_error = map.get_int(AltosTelemetry.AO_TELEM_GPS_VERROR, MISSING);
+		} else if (state.equals(AltosTelemetry.AO_TELEM_GPS_STATE_UNLOCKED)) {
+			connected = true;
+			locked = false;
+		} else {
+			connected = false;
+			locked = false;
+		}
+	}
+
+	public AltosGPS(String[] words, int i, int version) throws ParseException {
+		AltosParse.word(words[i++], "GPS");
+		nsat = AltosParse.parse_int(words[i++]);
+		AltosParse.word(words[i++], "sat");
+
+		connected = false;
+		locked = false;
+		lat = lon = 0;
+		alt = 0;
+		ClearGPSTime();
+		if ((words[i]).equals("unlocked")) {
+			connected = true;
+			i++;
+		} else if ((words[i]).equals("not-connected")) {
+			i++;
+		} else if (words.length >= 40) {
+			locked = true;
+			connected = true;
+
+			if (version > 1)
+				ParseGPSDate(words[i++]);
+			else
+				year = month = day = 0;
+			ParseGPSTime(words[i++]);
+			lat = AltosParse.parse_coord(words[i++]);
+			lon = AltosParse.parse_coord(words[i++]);
+			alt = AltosParse.parse_int(words[i++]);
+			if (version > 1 || (i < words.length && !words[i].equals("SAT"))) {
+				ground_speed = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(H)"));
+				course = AltosParse.parse_int(words[i++]);
+				climb_rate = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "m/s(V)"));
+				hdop = AltosParse.parse_double(AltosParse.strip_suffix(words[i++], "(hdop)"));
+				h_error = AltosParse.parse_int(words[i++]);
+				v_error = AltosParse.parse_int(words[i++]);
+			}
+		} else {
+			i++;
+		}
+		if (i < words.length) {
+			AltosParse.word(words[i++], "SAT");
+			int tracking_channels = 0;
+			if (words[i].equals("not-connected"))
+				tracking_channels = 0;
+			else
+				tracking_channels = AltosParse.parse_int(words[i]);
+			i++;
+			cc_gps_sat = new AltosGPSSat[tracking_channels];
+			for (int chan = 0; chan < tracking_channels; chan++) {
+				cc_gps_sat[chan] = new AltosGPSSat();
+				cc_gps_sat[chan].svid = AltosParse.parse_int(words[i++]);
+				/* Older versions included SiRF status bits */
+				if (version < 2)
+					i++;
+				cc_gps_sat[chan].c_n0 = AltosParse.parse_int(words[i++]);
+			}
+		} else
+			cc_gps_sat = new AltosGPSSat[0];
+	}
+
+	public void set_latitude(int in_lat) {
+		lat = in_lat / 10.0e7;
+	}
+
+	public void set_longitude(int in_lon) {
+		lon = in_lon / 10.0e7;
+	}
+
+	public void set_time(int hour, int minute, int second) {
+		hour = hour;
+		minute = minute;
+		second = second;
+	}
+
+	public void set_date(int year, int month, int day) {
+		year = year;
+		month = month;
+		day = day;
+	}
+
+	public void set_flags(int flags) {
+		flags = flags;
+	}
+
+	public void set_altitude(int altitude) {
+		altitude = altitude;
+	}
+
+	public void add_sat(int svid, int c_n0) {
+		if (cc_gps_sat == null) {
+			cc_gps_sat = new AltosGPSSat[1];
+		} else {
+			AltosGPSSat[] new_gps_sat = new AltosGPSSat[cc_gps_sat.length + 1];
+			for (int i = 0; i < cc_gps_sat.length; i++)
+				new_gps_sat[i] = cc_gps_sat[i];
+			cc_gps_sat = new_gps_sat;
+		}
+		AltosGPSSat	sat = new AltosGPSSat();
+		sat.svid = svid;
+		sat.c_n0 = c_n0;
+		cc_gps_sat[cc_gps_sat.length - 1] = sat;
+	}
+
+	public AltosGPS() {
+		ClearGPSTime();
+		cc_gps_sat = null;
+	}
+
+	public AltosGPS(AltosGPS old) {
+		nsat = old.nsat;
+		locked = old.locked;
+		connected = old.connected;
+		lat = old.lat;		/* degrees (+N -S) */
+		lon = old.lon;		/* degrees (+E -W) */
+		alt = old.alt;		/* m */
+		year = old.year;
+		month = old.month;
+		day = old.day;
+		hour = old.hour;
+		minute = old.minute;
+		second = old.second;
+
+		ground_speed = old.ground_speed;	/* m/s */
+		course = old.course;		/* degrees */
+		climb_rate = old.climb_rate;	/* m/s */
+		hdop = old.hdop;		/* unitless? */
+		h_error = old.h_error;	/* m */
+		v_error = old.v_error;	/* m */
+
+		if (old.cc_gps_sat != null) {
+			cc_gps_sat = new AltosGPSSat[old.cc_gps_sat.length];
+			for (int i = 0; i < old.cc_gps_sat.length; i++) {
+				cc_gps_sat[i] = new AltosGPSSat();
+				cc_gps_sat[i].svid = old.cc_gps_sat[i].svid;
+				cc_gps_sat[i].c_n0 = old.cc_gps_sat[i].c_n0;
+			}
+		}
+	}
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosGPSSat.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosGPSSat.java
new file mode 100644
index 00000000..fb125651
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosGPSSat.java
@@ -0,0 +1,32 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+public class AltosGPSSat {
+	int	svid;
+	int	c_n0;
+
+	public AltosGPSSat(int s, int c) {
+		svid = s;
+		c_n0= c;
+	}
+
+	public AltosGPSSat() {
+	}
+}
+
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosLine.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosLine.java
new file mode 100644
index 00000000..86e9d4c6
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosLine.java
@@ -0,0 +1,30 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+public class AltosLine {
+	public String	line;
+
+	public AltosLine() {
+		line = null;
+	}
+
+	public AltosLine(String s) {
+		line = s;
+	}
+}
\ No newline at end of file
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosParse.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosParse.java
new file mode 100644
index 00000000..fbfcaaee
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosParse.java
@@ -0,0 +1,79 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.text.*;
+import java.lang.*;
+
+public class AltosParse {
+	static boolean isdigit(char c) {
+		return '0' <= c && c <= '9';
+	}
+
+	static int parse_int(String v) throws ParseException {
+		try {
+			return Altos.fromdec(v);
+		} catch (NumberFormatException e) {
+			throw new ParseException("error parsing int " + v, 0);
+		}
+	}
+
+	static int parse_hex(String v) throws ParseException {
+		try {
+			return Altos.fromhex(v);
+		} catch (NumberFormatException e) {
+			throw new ParseException("error parsing hex " + v, 0);
+		}
+	}
+
+	static double parse_double(String v) throws ParseException {
+		try {
+			return Double.parseDouble(v);
+		} catch (NumberFormatException e) {
+			throw new ParseException("error parsing double " + v, 0);
+		}
+	}
+
+	static double parse_coord(String coord) throws ParseException {
+		String[]	dsf = coord.split("\\D+");
+
+		if (dsf.length != 3) {
+			throw new ParseException("error parsing coord " + coord, 0);
+		}
+		int deg = parse_int(dsf[0]);
+		int min = parse_int(dsf[1]);
+		int frac = parse_int(dsf[2]);
+
+		double r = deg + (min + frac / 10000.0) / 60.0;
+		if (coord.endsWith("S") || coord.endsWith("W"))
+			r = -r;
+		return r;
+	}
+
+	static String strip_suffix(String v, String suffix) {
+		if (v.endsWith(suffix))
+			return v.substring(0, v.length() - suffix.length());
+		return v;
+	}
+
+	static void word(String v, String m) throws ParseException {
+		if (!v.equals(m)) {
+			throw new ParseException("error matching '" + v + "' '" + m + "'", 0);
+		}
+	}
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosRecord.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosRecord.java
new file mode 100644
index 00000000..4dfa98be
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosRecord.java
@@ -0,0 +1,312 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+import java.io.*;
+
+public class AltosRecord implements Comparable <AltosRecord> {
+	final static int	MISSING = 0x7fffffff;
+
+	static final int	seen_flight = 1;
+	static final int	seen_sensor = 2;
+	static final int	seen_temp_volt = 4;
+	static final int	seen_deploy = 8;
+	static final int	seen_gps_time = 16;
+	static final int	seen_gps_lat = 32;
+	static final int	seen_gps_lon = 64;
+	static final int	seen_companion = 128;
+	int			seen;
+
+	int	version;
+	String 	callsign;
+	int	serial;
+	int	flight;
+	int	rssi;
+	int	status;
+	int	state;
+	int	tick;
+
+	int	accel;
+	int	pres;
+	int	temp;
+	int	batt;
+	int	drogue;
+	int	main;
+
+	int	ground_accel;
+	int	ground_pres;
+	int	accel_plus_g;
+	int	accel_minus_g;
+
+	double	acceleration;
+	double	speed;
+	double	height;
+
+	int	flight_accel;
+	int	flight_vel;
+	int	flight_pres;
+
+	AltosGPS	gps;
+	boolean		new_gps;
+
+	double	time;	/* seconds since boost */
+
+	int	device_type;
+	int	config_major;
+	int	config_minor;
+	int	apogee_delay;
+	int	main_deploy;
+	int	flight_log_max;
+	String	firmware_version;
+
+	AltosRecordCompanion companion;
+	/*
+	 * Values for our MP3H6115A pressure sensor
+	 *
+	 * From the data sheet:
+	 *
+	 * Pressure range: 15-115 kPa
+	 * Voltage at 115kPa: 2.82
+	 * Output scale: 27mV/kPa
+	 *
+	 *
+	 * 27 mV/kPa * 2047 / 3300 counts/mV = 16.75 counts/kPa
+	 * 2.82V * 2047 / 3.3 counts/V = 1749 counts/115 kPa
+	 */
+
+	static final double counts_per_kPa = 27 * 2047 / 3300;
+	static final double counts_at_101_3kPa = 1674.0;
+
+	static double
+	barometer_to_pressure(double count)
+	{
+		return ((count / 16.0) / 2047.0 + 0.095) / 0.009 * 1000.0;
+	}
+
+	public double raw_pressure() {
+		if (pres == MISSING)
+			return MISSING;
+		return barometer_to_pressure(pres);
+	}
+
+	public double filtered_pressure() {
+		if (flight_pres == MISSING)
+			return MISSING;
+		return barometer_to_pressure(flight_pres);
+	}
+
+	public double ground_pressure() {
+		if (ground_pres == MISSING)
+			return MISSING;
+		return barometer_to_pressure(ground_pres);
+	}
+
+	public double raw_altitude() {
+		double p = raw_pressure();
+		if (p == MISSING)
+			return MISSING;
+		return AltosConvert.pressure_to_altitude(p);
+	}
+
+	public double ground_altitude() {
+		double p = ground_pressure();
+		if (p == MISSING)
+			return MISSING;
+		return AltosConvert.pressure_to_altitude(p);
+	}
+
+	public double filtered_altitude() {
+		if (height != MISSING && ground_pres != MISSING)
+			return height + ground_altitude();
+
+		double	p = filtered_pressure();
+		if (p == MISSING)
+			return MISSING;
+		return AltosConvert.pressure_to_altitude(p);
+	}
+
+	public double filtered_height() {
+		if (height != MISSING)
+			return height;
+
+		double f = filtered_altitude();
+		double g = ground_altitude();
+		if (f == MISSING || g == MISSING)
+			return MISSING;
+		return f - g;
+	}
+
+	public double raw_height() {
+		double r = raw_altitude();
+		double g = ground_altitude();
+
+		if (r == MISSING || g == MISSING)
+			return height;
+		return r - g;
+	}
+
+	public double battery_voltage() {
+		if (batt == MISSING)
+			return MISSING;
+		return AltosConvert.cc_battery_to_voltage(batt);
+	}
+
+	public double main_voltage() {
+		if (main == MISSING)
+			return MISSING;
+		return AltosConvert.cc_ignitor_to_voltage(main);
+	}
+
+	public double drogue_voltage() {
+		if (drogue == MISSING)
+			return MISSING;
+		return AltosConvert.cc_ignitor_to_voltage(drogue);
+	}
+
+	/* Value for the CC1111 built-in temperature sensor
+	 * Output voltage at 0°C = 0.755V
+	 * Coefficient = 0.00247V/°C
+	 * Reference voltage = 1.25V
+	 *
+	 * temp = ((value / 32767) * 1.25 - 0.755) / 0.00247
+	 *      = (value - 19791.268) / 32768 * 1.25 / 0.00247
+	 */
+
+	static double
+	thermometer_to_temperature(double thermo)
+	{
+		return (thermo - 19791.268) / 32728.0 * 1.25 / 0.00247;
+	}
+
+	public double temperature() {
+		if (temp == MISSING)
+			return MISSING;
+		return thermometer_to_temperature(temp);
+	}
+
+	double accel_counts_per_mss() {
+		double	counts_per_g = Math.abs(accel_minus_g - accel_plus_g) / 2;
+
+		return counts_per_g / 9.80665;
+	}
+
+	public double acceleration() {
+		if (acceleration != MISSING)
+			return acceleration;
+
+		if (ground_accel == MISSING || accel == MISSING)
+			return MISSING;
+		return (ground_accel - accel) / accel_counts_per_mss();
+	}
+
+	public double accel_speed() {
+		if (speed != MISSING)
+			return speed;
+		if (flight_vel == MISSING)
+			return MISSING;
+		return flight_vel / (accel_counts_per_mss() * 100.0);
+	}
+
+	public String state() {
+		return Altos.state_name(state);
+	}
+
+	public static String gets(FileInputStream s) throws IOException {
+		int c;
+		String	line = "";
+
+		while ((c = s.read()) != -1) {
+			if (c == '\r')
+				continue;
+			if (c == '\n') {
+				return line;
+			}
+			line = line + (char) c;
+		}
+		return null;
+	}
+
+	public int compareTo(AltosRecord o) {
+		return tick - o.tick;
+	}
+
+	public AltosRecord(AltosRecord old) {
+		version = old.version;
+		seen = old.seen;
+		callsign = old.callsign;
+		serial = old.serial;
+		flight = old.flight;
+		rssi = old.rssi;
+		status = old.status;
+		state = old.state;
+		tick = old.tick;
+		accel = old.accel;
+		pres = old.pres;
+		temp = old.temp;
+		batt = old.batt;
+		drogue = old.drogue;
+		main = old.main;
+		flight_accel = old.flight_accel;
+		ground_accel = old.ground_accel;
+		flight_vel = old.flight_vel;
+		flight_pres = old.flight_pres;
+		ground_pres = old.ground_pres;
+		accel_plus_g = old.accel_plus_g;
+		accel_minus_g = old.accel_minus_g;
+		acceleration = old.acceleration;
+		speed = old.speed;
+		height = old.height;
+		gps = new AltosGPS(old.gps);
+		new_gps = false;
+		companion = old.companion;
+	}
+
+	public AltosRecord() {
+		version = 0;
+		seen = 0;
+		callsign = "N0CALL";
+		serial = 0;
+		flight = 0;
+		rssi = 0;
+		status = 0;
+		state = Altos.ao_flight_startup;
+		tick = 0;
+		accel = MISSING;
+		pres = MISSING;
+		temp = MISSING;
+		batt = MISSING;
+		drogue = MISSING;
+		main = MISSING;
+		flight_accel = 0;
+		ground_accel = 0;
+		flight_vel = 0;
+		flight_pres = 0;
+		ground_pres = 0;
+		accel_plus_g = 0;
+		accel_minus_g = 0;
+		acceleration = MISSING;
+		speed = MISSING;
+		height = MISSING;
+		gps = new AltosGPS();
+		new_gps = false;
+		companion = null;
+	}
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosRecordCompanion.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosRecordCompanion.java
new file mode 100644
index 00000000..0a8f9f4b
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosRecordCompanion.java
@@ -0,0 +1,38 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+public class AltosRecordCompanion {
+	final static int	board_id_telescience = 0x0a;
+	final static int	MAX_CHANNELS = 12;
+
+	int	tick;
+	int	board_id;
+	int	update_period;
+	int	channels;
+	int[]	companion_data;
+
+	public AltosRecordCompanion(int in_channels) {
+		channels = in_channels;
+		if (channels < 0)
+			channels = 0;
+		if (channels > MAX_CHANNELS)
+			channels = MAX_CHANNELS;
+		companion_data = new int[channels];
+	}
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosRecordIterable.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosRecordIterable.java
new file mode 100644
index 00000000..45843b92
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosRecordIterable.java
@@ -0,0 +1,37 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.awt.*;
+import java.awt.event.*;
+import javax.swing.*;
+import javax.swing.filechooser.FileNameExtensionFilter;
+import javax.swing.table.*;
+import java.io.*;
+import java.util.*;
+import java.text.*;
+import java.util.prefs.*;
+import java.util.concurrent.LinkedBlockingQueue;
+
+public abstract class AltosRecordIterable implements Iterable<AltosRecord> {
+	public abstract Iterator<AltosRecord> iterator();
+	public void write_comments(PrintStream out) { }
+	public boolean has_accel() { return false; }
+	public boolean has_gps() { return false; }
+	public boolean has_ignite() { return false; };
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetry.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetry.java
new file mode 100644
index 00000000..a05269f4
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetry.java
@@ -0,0 +1,241 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+
+/*
+ * Telemetry data contents
+ */
+
+
+/*
+ * The packet format is a simple hex dump of the raw telemetry frame.
+ * It starts with 'TELEM', then contains hex digits with a checksum as the last
+ * byte on the line.
+ *
+ * Version 4 is a replacement with consistent syntax. Each telemetry line
+ * contains a sequence of space-separated names and values, the values are
+ * either integers or strings. The names are all unique. All values are
+ * optional
+ *
+ * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944
+ *   r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764
+ *   a_s 0 a_b 26439 g_s u g_n 0 s_n 0
+ *
+ * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788
+ *   r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0
+ *
+ * General header fields
+ *
+ *	Name		Value
+ *
+ *	VERSION		Telemetry version number (4 or more). Must be first.
+ * 	c		Callsign (string, no spaces allowed)
+ *	n		Flight unit serial number (integer)
+ * 	f		Flight number (integer)
+ *	r		Packet RSSI value (integer)
+ * 	s		Flight computer state (string, no spaces allowed)
+ *	t		Flight computer clock (integer in centiseconds)
+ *
+ * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports
+ * in 1/2dB increments while this protocol provides only integers. So,
+ * the syntax didn't change just the interpretation of the RSSI
+ * values.
+ *
+ * Version 2 of the telemetry data stream is a bit of a mess, with no
+ * consistent formatting. In particular, the GPS data is formatted for
+ * viewing instead of parsing.  However, the key feature is that every
+ * telemetry line contains all of the information necessary to
+ * describe the current rocket state, including the calibration values
+ * for accelerometer and barometer.
+ *
+ * GPS unlocked:
+ *
+ * VERSION 2 CALL KB0G SERIAL  51 FLIGHT     2 RSSI  -68 STATUS ff STATE     pad  1001 \
+ *    a: 16032 p: 21232 t: 20284 v: 25160 d:   204 m:   204 fa: 16038 ga: 16032 fv:       0 \
+ *    fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS  0 sat unlocked SAT 1   15  30
+ *
+ * GPS locked:
+ *
+ * VERSION 2 CALL KB0G SERIAL  51 FLIGHT     2 RSSI  -71 STATUS ff STATE     pad  2504 \
+ *     a: 16028 p: 21220 t: 20360 v: 25004 d:   208 m:   200 fa: 16031 ga: 16032 fv:     330 \
+ *     fp: 21231 gp: 21230 a+: 16049 a-: 16304 \
+ *     GPS  9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W  1790m  \
+ *     0.00m/s(H) 0°     0.00m/s(V) 1.0(hdop)     0(herr)     0(verr) \
+ *     SAT 10   29  30  24  28   5  25  21  20  15  33   1  23  30  24  18  26  10  29   2  26
+ *
+ */
+
+public class AltosTelemetry extends AltosRecord {
+
+	/*
+	 * General header fields
+	 *
+	 *	Name		Value
+	 *
+	 *	VERSION		Telemetry version number (4 or more). Must be first.
+	 * 	c		Callsign (string, no spaces allowed)
+	 *	n		Flight unit serial number (integer)
+	 * 	f		Flight number (integer)
+	 *	r		Packet RSSI value (integer)
+	 * 	s		Flight computer state (string, no spaces allowed)
+	 *	t		Flight computer clock (integer in centiseconds)
+	 */
+
+	final static String AO_TELEM_VERSION	= "VERSION";
+	final static String AO_TELEM_CALL	= "c";
+	final static String AO_TELEM_SERIAL	= "n";
+	final static String AO_TELEM_FLIGHT	= "f";
+	final static String AO_TELEM_RSSI	= "r";
+	final static String AO_TELEM_STATE	= "s";
+	final static String AO_TELEM_TICK	= "t";
+
+	/*
+	 * Raw sensor values
+	 *
+	 *	Name		Value
+	 *	r_a		Accelerometer reading (integer)
+	 *	r_b		Barometer reading (integer)
+	 *	r_t		Thermometer reading (integer)
+	 *	r_v		Battery reading (integer)
+	 *	r_d		Drogue continuity (integer)
+	 *	r_m		Main continuity (integer)
+	 */
+
+	final static String AO_TELEM_RAW_ACCEL	= "r_a";
+	final static String AO_TELEM_RAW_BARO	= "r_b";
+	final static String AO_TELEM_RAW_THERMO	= "r_t";
+	final static String AO_TELEM_RAW_BATT	= "r_v";
+	final static String AO_TELEM_RAW_DROGUE	= "r_d";
+	final static String AO_TELEM_RAW_MAIN	= "r_m";
+
+	/*
+	 * Sensor calibration values
+	 *
+	 *	Name		Value
+	 *	c_a		Ground accelerometer reading (integer)
+	 *	c_b		Ground barometer reading (integer)
+	 *	c_p		Accelerometer reading for +1g
+	 *	c_m		Accelerometer reading for -1g
+	 */
+
+	final static String AO_TELEM_CAL_ACCEL_GROUND	= "c_a";
+	final static String AO_TELEM_CAL_BARO_GROUND	= "c_b";
+	final static String AO_TELEM_CAL_ACCEL_PLUS	= "c_p";
+	final static String AO_TELEM_CAL_ACCEL_MINUS	= "c_m";
+
+	/*
+	 * Kalman state values
+	 *
+	 *	Name		Value
+	 *	k_h		Height above pad (integer, meters)
+	 *	k_s		Vertical speeed (integer, m/s * 16)
+	 *	k_a		Vertical acceleration (integer, m/s² * 16)
+	 */
+
+	final static String AO_TELEM_KALMAN_HEIGHT	= "k_h";
+	final static String AO_TELEM_KALMAN_SPEED	= "k_s";
+	final static String AO_TELEM_KALMAN_ACCEL	= "k_a";
+
+	/*
+	 * Ad-hoc flight values
+	 *
+	 *	Name		Value
+	 *	a_a		Acceleration (integer, sensor units)
+	 *	a_s		Speed (integer, integrated acceleration value)
+	 *	a_b		Barometer reading (integer, sensor units)
+	 */
+
+	final static String AO_TELEM_ADHOC_ACCEL	= "a_a";
+	final static String AO_TELEM_ADHOC_SPEED	= "a_s";
+	final static String AO_TELEM_ADHOC_BARO		= "a_b";
+
+	/*
+	 * GPS values
+	 *
+	 *	Name		Value
+	 *	g_s		GPS state (string):
+	 *				l	locked
+	 *				u	unlocked
+	 *				e	error (missing or broken)
+	 *	g_n		Number of sats used in solution
+	 *	g_ns		Latitude (degrees * 10e7)
+	 *	g_ew		Longitude (degrees * 10e7)
+	 *	g_a		Altitude (integer meters)
+	 *	g_Y		GPS year (integer)
+	 *	g_M		GPS month (integer - 1-12)
+	 *	g_D		GPS day (integer - 1-31)
+	 *	g_h		GPS hour (integer - 0-23)
+	 *	g_m		GPS minute (integer - 0-59)
+	 *	g_s		GPS second (integer - 0-59)
+	 *	g_v		GPS vertical speed (integer, cm/sec)
+	 *	g_s		GPS horizontal speed (integer, cm/sec)
+	 *	g_c		GPS course (integer, 0-359)
+	 *	g_hd		GPS hdop (integer * 10)
+	 *	g_vd		GPS vdop (integer * 10)
+	 *	g_he		GPS h error (integer)
+	 *	g_ve		GPS v error (integer)
+	 */
+
+	final static String AO_TELEM_GPS_STATE	 		= "g";
+	final static String AO_TELEM_GPS_STATE_LOCKED		= "l";
+	final static String AO_TELEM_GPS_STATE_UNLOCKED		= "u";
+	final static String AO_TELEM_GPS_STATE_ERROR		= "e";
+	final static String AO_TELEM_GPS_NUM_SAT		= "g_n";
+	final static String AO_TELEM_GPS_LATITUDE		= "g_ns";
+	final static String AO_TELEM_GPS_LONGITUDE		= "g_ew";
+	final static String AO_TELEM_GPS_ALTITUDE		= "g_a";
+	final static String AO_TELEM_GPS_YEAR			= "g_Y";
+	final static String AO_TELEM_GPS_MONTH			= "g_M";
+	final static String AO_TELEM_GPS_DAY			= "g_D";
+	final static String AO_TELEM_GPS_HOUR			= "g_h";
+	final static String AO_TELEM_GPS_MINUTE			= "g_m";
+	final static String AO_TELEM_GPS_SECOND			= "g_s";
+	final static String AO_TELEM_GPS_VERTICAL_SPEED		= "g_v";
+	final static String AO_TELEM_GPS_HORIZONTAL_SPEED	= "g_g";
+	final static String AO_TELEM_GPS_COURSE			= "g_c";
+	final static String AO_TELEM_GPS_HDOP			= "g_hd";
+	final static String AO_TELEM_GPS_VDOP			= "g_vd";
+	final static String AO_TELEM_GPS_HERROR			= "g_he";
+	final static String AO_TELEM_GPS_VERROR			= "g_ve";
+
+	/*
+	 * GPS satellite values
+	 *
+	 *	Name		Value
+	 *	s_n		Number of satellites reported (integer)
+	 *	s_v0		Space vehicle ID (integer) for report 0
+	 *	s_c0		C/N0 number (integer) for report 0
+	 *	s_v1		Space vehicle ID (integer) for report 1
+	 *	s_c1		C/N0 number (integer) for report 1
+	 *	...
+	 */
+
+	final static String AO_TELEM_SAT_NUM	= "s_n";
+	final static String AO_TELEM_SAT_SVID	= "s_v";
+	final static String AO_TELEM_SAT_C_N_0	= "s_c";
+
+	static public AltosRecord parse(String line, AltosRecord previous) throws ParseException, AltosCRCException {
+		AltosTelemetryRecord	r = AltosTelemetryRecordGeneral.parse(line);
+
+		return r.update_state(previous);
+	}
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryIterable.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryIterable.java
new file mode 100644
index 00000000..278cbfb7
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryIterable.java
@@ -0,0 +1,100 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.io.*;
+import java.util.*;
+import java.text.*;
+
+public class AltosTelemetryIterable extends AltosRecordIterable {
+	TreeSet<AltosRecord>	records;
+
+	public Iterator<AltosRecord> iterator () {
+		return records.iterator();
+	}
+
+	boolean has_gps = false;
+	boolean has_accel = false;
+	boolean has_ignite = false;
+	public boolean has_gps() { return has_gps; }
+	public boolean has_accel() { return has_accel; }
+	public boolean has_ignite() { return has_ignite; };
+
+	public AltosTelemetryIterable (FileInputStream input) {
+		boolean saw_boost = false;
+		int	current_tick = 0;
+		int	boost_tick = 0;
+
+		AltosRecord	previous = null;
+		records = new TreeSet<AltosRecord> ();
+
+		try {
+			for (;;) {
+				String line = AltosRecord.gets(input);
+				if (line == null) {
+					break;
+				}
+				try {
+					AltosRecord record = AltosTelemetry.parse(line, previous);
+					if (record == null)
+						break;
+					if (records.isEmpty()) {
+						current_tick = record.tick;
+					} else {
+						int tick = record.tick;
+						while (tick < current_tick - 0x1000)
+							tick += 0x10000;
+						current_tick = tick;
+						record.tick = current_tick;
+					}
+					if (!saw_boost && record.state >= Altos.ao_flight_boost)
+					{
+						saw_boost = true;
+						boost_tick = record.tick;
+					}
+					if (record.accel != AltosRecord.MISSING)
+						has_accel = true;
+					if (record.gps != null)
+						has_gps = true;
+					if (record.main != AltosRecord.MISSING)
+						has_ignite = true;
+					if (previous != null && previous.tick != record.tick)
+						records.add(previous);
+					previous = record;
+				} catch (ParseException pe) {
+					System.out.printf("parse exception %s\n", pe.getMessage());
+				} catch (AltosCRCException ce) {
+				}
+			}
+		} catch (IOException io) {
+			System.out.printf("io exception\n");
+		}
+
+		if (previous != null)
+			records.add(previous);
+
+		/* adjust all tick counts to be relative to boost time */
+		for (AltosRecord r : this)
+			r.time = (r.tick - boost_tick) / 100.0;
+
+		try {
+			input.close();
+		} catch (IOException ie) {
+		}
+	}
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryMap.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryMap.java
new file mode 100644
index 00000000..d906100f
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryMap.java
@@ -0,0 +1,63 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+
+public class AltosTelemetryMap extends HashMap<String,String> {
+	public boolean has(String key) {
+		return containsKey(key);
+	}
+
+	public String get_string(String key) throws ParseException {
+		if (!has(key))
+			throw new ParseException ("missing " + key, 0);
+		return (String) get(key);
+	}
+
+	public String get_string(String key, String def) {
+		if (has(key))
+			return get(key);
+		else
+			return def;
+	}
+
+	public int get_int(String key) throws ParseException {
+		return AltosParse.parse_int(get_string(key));
+	}
+
+	public int get_int(String key, int def) throws ParseException {
+		if (has(key))
+			return get_int(key);
+		else
+			return def;
+	}
+
+	public double get_double(String key, double def, double scale) throws ParseException {
+		if (has(key))
+			return get_int(key) * scale;
+		else
+			return def;
+	}
+
+	public AltosTelemetryMap(String[] words, int start) {
+		for (int i = start; i < words.length - 1; i += 2)
+			put(words[i], words[i+1]);
+	}
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryReader.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryReader.java
new file mode 100644
index 00000000..2c49b707
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryReader.java
@@ -0,0 +1,92 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.lang.*;
+import java.text.*;
+import java.io.*;
+import java.util.concurrent.*;
+
+class AltosTelemetryReader extends AltosFlightReader {
+	AltosDevice	device;
+	AltosSerial	serial;
+	AltosLog	log;
+	AltosRecord	previous;
+	double		frequency;
+	int		telemetry;
+
+	LinkedBlockingQueue<AltosLine> telem;
+
+	AltosRecord read() throws InterruptedException, ParseException, AltosCRCException, IOException {
+		AltosLine l = telem.take();
+		if (l.line == null)
+			throw new IOException("IO error");
+		AltosRecord	next = AltosTelemetry.parse(l.line, previous);
+		previous = next;
+		return next;
+	}
+
+	void flush() {
+		telem.clear();
+	}
+
+	void close(boolean interrupted) {
+		serial.remove_monitor(telem);
+		log.close();
+		serial.close();
+	}
+
+	public void set_frequency(double in_frequency) throws InterruptedException, TimeoutException {
+		frequency = in_frequency;
+		serial.set_radio_frequency(frequency);
+	}
+
+	void save_frequency() {
+		AltosUIPreferences.set_frequency(device.getSerial(), frequency);
+	}
+
+	void set_telemetry(int in_telemetry) {
+		telemetry = in_telemetry;
+		serial.set_telemetry(telemetry);
+	}
+
+	void save_telemetry() {
+		AltosUIPreferences.set_telemetry(device.getSerial(), telemetry);
+	}
+
+	File backing_file() {
+		return log.file();
+	}
+
+	public AltosTelemetryReader (AltosDevice in_device)
+		throws FileNotFoundException, AltosSerialInUseException, IOException, InterruptedException, TimeoutException {
+		device = in_device;
+		serial = new AltosSerial(device);
+		log = new AltosLog(serial);
+		name = device.toShortString();
+		previous = null;
+
+		telem = new LinkedBlockingQueue<AltosLine>();
+		frequency = AltosUIPreferences.frequency(device.getSerial());
+		set_frequency(frequency);
+		telemetry = AltosUIPreferences.telemetry(device.getSerial());
+		set_telemetry(telemetry);
+		serial.set_callsign(AltosUIPreferences.callsign());
+		serial.add_monitor(telem);
+	}
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecord.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecord.java
new file mode 100644
index 00000000..cfac309a
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecord.java
@@ -0,0 +1,23 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+public interface AltosTelemetryRecord {
+
+	public AltosRecord update_state(AltosRecord previous);
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordCompanion.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordCompanion.java
new file mode 100644
index 00000000..52d7f4cf
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordCompanion.java
@@ -0,0 +1,52 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+public class AltosTelemetryRecordCompanion extends AltosTelemetryRecordRaw {
+
+	AltosRecordCompanion	companion;
+
+	public AltosTelemetryRecordCompanion(int[] in_bytes) {
+		super(in_bytes);
+
+		int	off = 0;
+		if (uint8(6) == 0)
+			off = 1;
+		int channels = uint8(7+off);
+
+		if (off != 0 && channels >= 12)
+			channels = 11;
+
+		companion = new AltosRecordCompanion(channels);
+		companion.tick		= tick;
+		companion.board_id      = uint8(5);
+		companion.update_period = uint8(6+off);
+		for (int i = 0; i < companion.companion_data.length; i++)
+			companion.companion_data[i] = uint16(8 + off + i * 2);
+	}
+
+	public AltosRecord update_state(AltosRecord previous) {
+		AltosRecord	next = super.update_state(previous);
+
+		next.companion = companion;
+		next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
+
+		companion.tick = tick;
+		return next;
+	}
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordConfiguration.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordConfiguration.java
new file mode 100644
index 00000000..b029d120
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordConfiguration.java
@@ -0,0 +1,64 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+
+public class AltosTelemetryRecordConfiguration extends AltosTelemetryRecordRaw {
+	int	device_type;
+	int	flight;
+	int	config_major;
+	int	config_minor;
+	int	apogee_delay;
+	int	main_deploy;
+	int	flight_log_max;
+	String	callsign;
+	String	version;
+
+	public AltosTelemetryRecordConfiguration(int[] in_bytes) {
+		super(in_bytes);
+
+		device_type    = uint8(5);
+		flight         = uint16(6);
+		config_major   = uint8(8);
+		config_minor   = uint8(9);
+		apogee_delay   = uint16(10);
+		main_deploy    = uint16(12);
+		flight_log_max = uint16(14);
+		callsign       = string(16, 8);
+		version        = string(24, 8);
+	}
+
+	public AltosRecord update_state(AltosRecord previous) {
+		AltosRecord	next = super.update_state(previous);
+
+		next.device_type = device_type;
+		next.flight = flight;
+		next.config_major = config_major;
+		next.config_minor = config_minor;
+		next.apogee_delay = apogee_delay;
+		next.main_deploy = main_deploy;
+		next.flight_log_max = flight_log_max;
+
+		next.callsign = callsign;
+		next.firmware_version = version;
+
+		next.seen |= AltosRecord.seen_deploy | AltosRecord.seen_flight;
+
+		return next;
+	}
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordGeneral.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordGeneral.java
new file mode 100644
index 00000000..722baba3
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordGeneral.java
@@ -0,0 +1,43 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+
+public class AltosTelemetryRecordGeneral {
+
+	static AltosTelemetryRecord parse(String line) throws ParseException, AltosCRCException {
+		AltosTelemetryRecord	r;
+
+		String[] word = line.split("\\s+");
+		int i =0;
+		if (word[i].equals("CRC") && word[i+1].equals("INVALID")) {
+			i += 2;
+			AltosParse.word(word[i++], "RSSI");
+			throw new AltosCRCException(AltosParse.parse_int(word[i++]));
+		}
+
+		if (word[i].equals("TELEM"))
+			r = AltosTelemetryRecordRaw.parse(word[i+1]);
+		else
+			r = new AltosTelemetryRecordLegacy(line);
+		return r;
+	}
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordLegacy.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordLegacy.java
new file mode 100644
index 00000000..f2f63358
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordLegacy.java
@@ -0,0 +1,515 @@
+/*
+ * Copyright © 2010 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+
+/*
+ * Telemetry data contents
+ */
+
+
+/*
+ * The packet format is a simple hex dump of the raw telemetry frame.
+ * It starts with 'TELEM', then contains hex digits with a checksum as the last
+ * byte on the line.
+ *
+ * Version 4 is a replacement with consistent syntax. Each telemetry line
+ * contains a sequence of space-separated names and values, the values are
+ * either integers or strings. The names are all unique. All values are
+ * optional
+ *
+ * VERSION 4 c KD7SQG n 236 f 18 r -25 s pad t 513 r_a 15756 r_b 26444 r_t 20944
+ *   r_v 26640 r_d 512 r_m 208 c_a 15775 c_b 26439 c_p 15749 c_m 16281 a_a 15764
+ *   a_s 0 a_b 26439 g_s u g_n 0 s_n 0
+ *
+ * VERSION 4 c KD7SQG n 19 f 0 r -23 s pad t 513 r_b 26372 r_t 21292 r_v 26788
+ *   r_d 136 r_m 140 c_b 26370 k_h 0 k_s 0 k_a 0
+ *
+ * General header fields
+ *
+ *	Name		Value
+ *
+ *	VERSION		Telemetry version number (4 or more). Must be first.
+ * 	c		Callsign (string, no spaces allowed)
+ *	n		Flight unit serial number (integer)
+ * 	f		Flight number (integer)
+ *	r		Packet RSSI value (integer)
+ * 	s		Flight computer state (string, no spaces allowed)
+ *	t		Flight computer clock (integer in centiseconds)
+ *
+ * Version 3 is Version 2 with fixed RSSI numbers -- the radio reports
+ * in 1/2dB increments while this protocol provides only integers. So,
+ * the syntax didn't change just the interpretation of the RSSI
+ * values.
+ *
+ * Version 2 of the telemetry data stream is a bit of a mess, with no
+ * consistent formatting. In particular, the GPS data is formatted for
+ * viewing instead of parsing.  However, the key feature is that every
+ * telemetry line contains all of the information necessary to
+ * describe the current rocket state, including the calibration values
+ * for accelerometer and barometer.
+ *
+ * GPS unlocked:
+ *
+ * VERSION 2 CALL KB0G SERIAL  51 FLIGHT     2 RSSI  -68 STATUS ff STATE     pad  1001 \
+ *    a: 16032 p: 21232 t: 20284 v: 25160 d:   204 m:   204 fa: 16038 ga: 16032 fv:       0 \
+ *    fp: 21232 gp: 21230 a+: 16049 a-: 16304 GPS  0 sat unlocked SAT 1   15  30
+ *
+ * GPS locked:
+ *
+ * VERSION 2 CALL KB0G SERIAL  51 FLIGHT     2 RSSI  -71 STATUS ff STATE     pad  2504 \
+ *     a: 16028 p: 21220 t: 20360 v: 25004 d:   208 m:   200 fa: 16031 ga: 16032 fv:     330 \
+ *     fp: 21231 gp: 21230 a+: 16049 a-: 16304 \
+ *     GPS  9 sat 2010-02-13 17:16:51 35°20.0803'N 106°45.2235'W  1790m  \
+ *     0.00m/s(H) 0°     0.00m/s(V) 1.0(hdop)     0(herr)     0(verr) \
+ *     SAT 10   29  30  24  28   5  25  21  20  15  33   1  23  30  24  18  26  10  29   2  26
+ *
+ */
+
+public class AltosTelemetryRecordLegacy extends AltosRecord implements AltosTelemetryRecord {
+	/*
+	 * General header fields
+	 *
+	 *	Name		Value
+	 *
+	 *	VERSION		Telemetry version number (4 or more). Must be first.
+	 * 	c		Callsign (string, no spaces allowed)
+	 *	n		Flight unit serial number (integer)
+	 * 	f		Flight number (integer)
+	 *	r		Packet RSSI value (integer)
+	 * 	s		Flight computer state (string, no spaces allowed)
+	 *	t		Flight computer clock (integer in centiseconds)
+	 */
+
+	final static String AO_TELEM_VERSION	= "VERSION";
+	final static String AO_TELEM_CALL	= "c";
+	final static String AO_TELEM_SERIAL	= "n";
+	final static String AO_TELEM_FLIGHT	= "f";
+	final static String AO_TELEM_RSSI	= "r";
+	final static String AO_TELEM_STATE	= "s";
+	final static String AO_TELEM_TICK	= "t";
+
+	/*
+	 * Raw sensor values
+	 *
+	 *	Name		Value
+	 *	r_a		Accelerometer reading (integer)
+	 *	r_b		Barometer reading (integer)
+	 *	r_t		Thermometer reading (integer)
+	 *	r_v		Battery reading (integer)
+	 *	r_d		Drogue continuity (integer)
+	 *	r_m		Main continuity (integer)
+	 */
+
+	final static String AO_TELEM_RAW_ACCEL	= "r_a";
+	final static String AO_TELEM_RAW_BARO	= "r_b";
+	final static String AO_TELEM_RAW_THERMO	= "r_t";
+	final static String AO_TELEM_RAW_BATT	= "r_v";
+	final static String AO_TELEM_RAW_DROGUE	= "r_d";
+	final static String AO_TELEM_RAW_MAIN	= "r_m";
+
+	/*
+	 * Sensor calibration values
+	 *
+	 *	Name		Value
+	 *	c_a		Ground accelerometer reading (integer)
+	 *	c_b		Ground barometer reading (integer)
+	 *	c_p		Accelerometer reading for +1g
+	 *	c_m		Accelerometer reading for -1g
+	 */
+
+	final static String AO_TELEM_CAL_ACCEL_GROUND	= "c_a";
+	final static String AO_TELEM_CAL_BARO_GROUND	= "c_b";
+	final static String AO_TELEM_CAL_ACCEL_PLUS	= "c_p";
+	final static String AO_TELEM_CAL_ACCEL_MINUS	= "c_m";
+
+	/*
+	 * Kalman state values
+	 *
+	 *	Name		Value
+	 *	k_h		Height above pad (integer, meters)
+	 *	k_s		Vertical speeed (integer, m/s * 16)
+	 *	k_a		Vertical acceleration (integer, m/s² * 16)
+	 */
+
+	final static String AO_TELEM_KALMAN_HEIGHT	= "k_h";
+	final static String AO_TELEM_KALMAN_SPEED	= "k_s";
+	final static String AO_TELEM_KALMAN_ACCEL	= "k_a";
+
+	/*
+	 * Ad-hoc flight values
+	 *
+	 *	Name		Value
+	 *	a_a		Acceleration (integer, sensor units)
+	 *	a_s		Speed (integer, integrated acceleration value)
+	 *	a_b		Barometer reading (integer, sensor units)
+	 */
+
+	final static String AO_TELEM_ADHOC_ACCEL	= "a_a";
+	final static String AO_TELEM_ADHOC_SPEED	= "a_s";
+	final static String AO_TELEM_ADHOC_BARO		= "a_b";
+
+	/*
+	 * GPS values
+	 *
+	 *	Name		Value
+	 *	g_s		GPS state (string):
+	 *				l	locked
+	 *				u	unlocked
+	 *				e	error (missing or broken)
+	 *	g_n		Number of sats used in solution
+	 *	g_ns		Latitude (degrees * 10e7)
+	 *	g_ew		Longitude (degrees * 10e7)
+	 *	g_a		Altitude (integer meters)
+	 *	g_Y		GPS year (integer)
+	 *	g_M		GPS month (integer - 1-12)
+	 *	g_D		GPS day (integer - 1-31)
+	 *	g_h		GPS hour (integer - 0-23)
+	 *	g_m		GPS minute (integer - 0-59)
+	 *	g_s		GPS second (integer - 0-59)
+	 *	g_v		GPS vertical speed (integer, cm/sec)
+	 *	g_s		GPS horizontal speed (integer, cm/sec)
+	 *	g_c		GPS course (integer, 0-359)
+	 *	g_hd		GPS hdop (integer * 10)
+	 *	g_vd		GPS vdop (integer * 10)
+	 *	g_he		GPS h error (integer)
+	 *	g_ve		GPS v error (integer)
+	 */
+
+	final static String AO_TELEM_GPS_STATE	 		= "g";
+	final static String AO_TELEM_GPS_STATE_LOCKED		= "l";
+	final static String AO_TELEM_GPS_STATE_UNLOCKED		= "u";
+	final static String AO_TELEM_GPS_STATE_ERROR		= "e";
+	final static String AO_TELEM_GPS_NUM_SAT		= "g_n";
+	final static String AO_TELEM_GPS_LATITUDE		= "g_ns";
+	final static String AO_TELEM_GPS_LONGITUDE		= "g_ew";
+	final static String AO_TELEM_GPS_ALTITUDE		= "g_a";
+	final static String AO_TELEM_GPS_YEAR			= "g_Y";
+	final static String AO_TELEM_GPS_MONTH			= "g_M";
+	final static String AO_TELEM_GPS_DAY			= "g_D";
+	final static String AO_TELEM_GPS_HOUR			= "g_h";
+	final static String AO_TELEM_GPS_MINUTE			= "g_m";
+	final static String AO_TELEM_GPS_SECOND			= "g_s";
+	final static String AO_TELEM_GPS_VERTICAL_SPEED		= "g_v";
+	final static String AO_TELEM_GPS_HORIZONTAL_SPEED	= "g_g";
+	final static String AO_TELEM_GPS_COURSE			= "g_c";
+	final static String AO_TELEM_GPS_HDOP			= "g_hd";
+	final static String AO_TELEM_GPS_VDOP			= "g_vd";
+	final static String AO_TELEM_GPS_HERROR			= "g_he";
+	final static String AO_TELEM_GPS_VERROR			= "g_ve";
+
+	/*
+	 * GPS satellite values
+	 *
+	 *	Name		Value
+	 *	s_n		Number of satellites reported (integer)
+	 *	s_v0		Space vehicle ID (integer) for report 0
+	 *	s_c0		C/N0 number (integer) for report 0
+	 *	s_v1		Space vehicle ID (integer) for report 1
+	 *	s_c1		C/N0 number (integer) for report 1
+	 *	...
+	 */
+
+	final static String AO_TELEM_SAT_NUM	= "s_n";
+	final static String AO_TELEM_SAT_SVID	= "s_v";
+	final static String AO_TELEM_SAT_C_N_0	= "s_c";
+
+	private void parse_v4(String[] words, int i) throws ParseException {
+		AltosTelemetryMap	map = new AltosTelemetryMap(words, i);
+
+		callsign = map.get_string(AO_TELEM_CALL, "N0CALL");
+		serial = map.get_int(AO_TELEM_SERIAL, MISSING);
+		flight = map.get_int(AO_TELEM_FLIGHT, MISSING);
+		rssi = map.get_int(AO_TELEM_RSSI, MISSING);
+		state = Altos.state(map.get_string(AO_TELEM_STATE, "invalid"));
+		tick = map.get_int(AO_TELEM_TICK, 0);
+
+		/* raw sensor values */
+		accel = map.get_int(AO_TELEM_RAW_ACCEL, MISSING);
+		pres = map.get_int(AO_TELEM_RAW_BARO, MISSING);
+		temp = map.get_int(AO_TELEM_RAW_THERMO, MISSING);
+		batt = map.get_int(AO_TELEM_RAW_BATT, MISSING);
+		drogue = map.get_int(AO_TELEM_RAW_DROGUE, MISSING);
+		main = map.get_int(AO_TELEM_RAW_MAIN, MISSING);
+
+		/* sensor calibration information */
+		ground_accel = map.get_int(AO_TELEM_CAL_ACCEL_GROUND, MISSING);
+		ground_pres = map.get_int(AO_TELEM_CAL_BARO_GROUND, MISSING);
+		accel_plus_g = map.get_int(AO_TELEM_CAL_ACCEL_PLUS, MISSING);
+		accel_minus_g = map.get_int(AO_TELEM_CAL_ACCEL_MINUS, MISSING);
+
+		/* flight computer values */
+		acceleration = map.get_double(AO_TELEM_KALMAN_ACCEL, MISSING, 1/16.0);
+		speed = map.get_double(AO_TELEM_KALMAN_SPEED, MISSING, 1/16.0);
+		height = map.get_int(AO_TELEM_KALMAN_HEIGHT, MISSING);
+
+		flight_accel = map.get_int(AO_TELEM_ADHOC_ACCEL, MISSING);
+		flight_vel = map.get_int(AO_TELEM_ADHOC_SPEED, MISSING);
+		flight_pres = map.get_int(AO_TELEM_ADHOC_BARO, MISSING);
+
+		if (map.has(AO_TELEM_GPS_STATE)) {
+			gps = new AltosGPS(map);
+			new_gps = true;
+		}
+		else
+			gps = null;
+	}
+
+	private void parse_legacy(String[] words, int i) throws ParseException {
+
+		AltosParse.word (words[i++], "CALL");
+		callsign = words[i++];
+
+		AltosParse.word (words[i++], "SERIAL");
+		serial = AltosParse.parse_int(words[i++]);
+
+		if (version >= 2) {
+			AltosParse.word (words[i++], "FLIGHT");
+			flight = AltosParse.parse_int(words[i++]);
+		} else
+			flight = 0;
+
+		AltosParse.word(words[i++], "RSSI");
+		rssi = AltosParse.parse_int(words[i++]);
+
+		/* Older telemetry data had mis-computed RSSI value */
+		if (version <= 2)
+			rssi = (rssi + 74) / 2 - 74;
+
+		AltosParse.word(words[i++], "STATUS");
+		status = AltosParse.parse_hex(words[i++]);
+
+		AltosParse.word(words[i++], "STATE");
+		state = Altos.state(words[i++]);
+
+		tick = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "a:");
+		accel = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "p:");
+		pres = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "t:");
+		temp = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "v:");
+		batt = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "d:");
+		drogue = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "m:");
+		main = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "fa:");
+		flight_accel = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "ga:");
+		ground_accel = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "fv:");
+		flight_vel = AltosParse.parse_int(words[i++]);
+
+		AltosParse.word(words[i++], "fp:");
+		flight_pres = AltosParse.parse_int(words[i++]);
+
+		/* Old TeleDongle code with kalman-reporting TeleMetrum code */
+		if ((flight_vel & 0xffff0000) == 0x80000000) {
+			speed = ((short) flight_vel) / 16.0;
+			acceleration = flight_accel / 16.0;
+			height = flight_pres;
+			flight_vel = MISSING;
+			flight_pres = MISSING;
+			flight_accel = MISSING;
+		}
+
+		AltosParse.word(words[i++], "gp:");
+		ground_pres = AltosParse.parse_int(words[i++]);
+
+		if (version >= 1) {
+			AltosParse.word(words[i++], "a+:");
+			accel_plus_g = AltosParse.parse_int(words[i++]);
+
+			AltosParse.word(words[i++], "a-:");
+			accel_minus_g = AltosParse.parse_int(words[i++]);
+		} else {
+			accel_plus_g = ground_accel;
+			accel_minus_g = ground_accel + 530;
+		}
+
+		gps = new AltosGPS(words, i, version);
+		new_gps = true;
+	}
+
+	public AltosTelemetryRecordLegacy(String line) throws ParseException, AltosCRCException {
+		String[] words = line.split("\\s+");
+		int	i = 0;
+
+		if (words[i].equals("CRC") && words[i+1].equals("INVALID")) {
+			i += 2;
+			AltosParse.word(words[i++], "RSSI");
+			rssi = AltosParse.parse_int(words[i++]);
+			throw new AltosCRCException(rssi);
+		}
+		if (words[i].equals("CALL")) {
+			version = 0;
+		} else {
+			AltosParse.word (words[i++], "VERSION");
+			version = AltosParse.parse_int(words[i++]);
+		}
+
+		if (version < 4)
+			parse_legacy(words, i);
+		else
+			parse_v4(words, i);
+	}
+
+	/*
+	 * Given a hex dump of a legacy telemetry line, construct an AltosRecord from that
+	 */
+
+	int[]	bytes;
+	int	adjust;
+
+	private int int8(int i) {
+		return Altos.int8(bytes, i + 1 + adjust);
+	}
+	private int uint8(int i) {
+		return Altos.uint8(bytes, i + 1 + adjust);
+	}
+	private int int16(int i) {
+		return Altos.int16(bytes, i + 1 + adjust);
+	}
+	private int uint16(int i) {
+		return Altos.uint16(bytes, i + 1 + adjust);
+	}
+	private int uint32(int i) {
+		return Altos.uint32(bytes, i + 1 + adjust);
+	}
+	private String string(int i, int l) {
+		return Altos.string(bytes, i + 1 + adjust, l);
+	}
+
+	static final int AO_GPS_NUM_SAT_MASK	= (0xf << 0);
+	static final int AO_GPS_NUM_SAT_SHIFT	= (0);
+
+	static final int AO_GPS_VALID		= (1 << 4);
+	static final int AO_GPS_RUNNING		= (1 << 5);
+	static final int AO_GPS_DATE_VALID	= (1 << 6);
+	static final int AO_GPS_COURSE_VALID	= (1 << 7);
+
+	public AltosTelemetryRecordLegacy(int[] in_bytes, int in_rssi, int in_status) {
+		bytes = in_bytes;
+		version = 4;
+		adjust = 0;
+
+		if (bytes.length == Altos.ao_telemetry_0_8_len + 4) {
+			serial = uint8(0);
+			adjust = -1;
+		} else
+			serial = uint16(0);
+
+		seen = seen_flight | seen_sensor | seen_temp_volt | seen_deploy;
+
+		callsign = string(62, 8);
+		flight = uint16(2);
+		rssi = in_rssi;
+		status = in_status;
+		state = uint8(4);
+		tick = uint16(21);
+		accel = int16(23);
+		pres = int16(25);
+		temp = int16(27);
+		batt = int16(29);
+		drogue = int16(31);
+		main = int16(33);
+		
+		ground_accel = int16(7);
+		ground_pres = int16(15);
+		accel_plus_g = int16(17);
+		accel_minus_g = int16(19);
+
+		if (uint16(11) == 0x8000) {
+			acceleration = int16(5);
+			speed = int16(9);
+			height = int16(13);
+			flight_accel = MISSING;
+			flight_vel = MISSING;
+			flight_pres = MISSING;
+		} else {
+			flight_accel = int16(5);
+			flight_vel = uint32(9);
+			flight_pres = int16(13);
+			acceleration = MISSING;
+			speed = MISSING;
+			height = MISSING;
+		}
+
+		gps = null;
+
+		int gps_flags = uint8(41);
+
+		if ((gps_flags & (AO_GPS_VALID|AO_GPS_RUNNING)) != 0) {
+			gps = new AltosGPS();
+			new_gps = true;
+
+			seen |= seen_gps_time | seen_gps_lat | seen_gps_lon;
+			gps.nsat = (gps_flags & AO_GPS_NUM_SAT_MASK);
+			gps.locked = (gps_flags & AO_GPS_VALID) != 0;
+			gps.connected = true;
+			gps.lat = uint32(42) / 1.0e7;
+			gps.lon = uint32(46) / 1.0e7;
+			gps.alt = int16(50);
+			gps.ground_speed = uint16(52) / 100.0;
+			gps.course = uint8(54) * 2;
+			gps.hdop = uint8(55) / 5.0;
+			gps.h_error = uint16(58);
+			gps.v_error = uint16(60);
+
+			int	n_tracking_reported = uint8(70);
+			if (n_tracking_reported > 12)
+				n_tracking_reported = 12;
+			int	n_tracking_actual = 0;
+			for (int i = 0; i < n_tracking_reported; i++) {
+				if (uint8(71 + i*2) != 0)
+					n_tracking_actual++;
+			}
+			if (n_tracking_actual > 0) {
+				gps.cc_gps_sat = new AltosGPSSat[n_tracking_actual];
+
+				n_tracking_actual = 0;
+				for (int i = 0; i < n_tracking_reported; i++) {
+					int	svid = uint8(71 + i*2);
+					int	c_n0 = uint8(72 + i*2);
+					if (svid != 0)
+						gps.cc_gps_sat[n_tracking_actual++] = new AltosGPSSat(svid, c_n0);
+				}
+			}
+		}
+
+		time = 0.0;
+	}
+
+	public AltosRecord update_state(AltosRecord previous) {
+		return this;
+	}
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordLocation.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordLocation.java
new file mode 100644
index 00000000..80db454d
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordLocation.java
@@ -0,0 +1,93 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+
+public class AltosTelemetryRecordLocation extends AltosTelemetryRecordRaw {
+	int	flags;
+	int	altitude;
+	int	latitude;
+	int	longitude;
+	int	year;
+	int	month;
+	int	day;
+	int	hour;
+	int	minute;
+	int	second;
+	int	pdop;
+	int	hdop;
+	int	vdop;
+	int	mode;
+	int	ground_speed;
+	int	climb_rate;
+	int	course;
+
+	public AltosTelemetryRecordLocation(int[] in_bytes) {
+		super(in_bytes);
+
+		flags          = uint8(5);
+		altitude       = int16(6);
+		latitude       = uint32(8);
+		longitude      = uint32(12);
+		year	       = uint8(16);
+		month	       = uint8(17);
+		day	       = uint8(18);
+		hour	       = uint8(19);
+		minute	       = uint8(20);
+		second	       = uint8(21);
+		pdop	       = uint8(22);
+		hdop	       = uint8(23);
+		vdop	       = uint8(24);
+		mode	       = uint8(25);
+		ground_speed   = uint16(26);
+		climb_rate     = int16(28);
+		course	       = uint8(30);
+	}
+
+	public AltosRecord update_state(AltosRecord previous) {
+		AltosRecord	next = super.update_state(previous);
+
+		if (next.gps == null)
+			next.gps = new AltosGPS();
+
+		next.gps.nsat = flags & 0xf;
+		next.gps.locked = (flags & (1 << 4)) != 0;
+		next.gps.connected = (flags & (1 << 5)) != 0;
+
+		if (next.gps.locked) {
+			next.gps.lat = latitude * 1.0e-7;
+			next.gps.lon = longitude * 1.0e-7;
+			next.gps.alt = altitude;
+			next.gps.year = 2000 + year;
+			next.gps.month = month;
+			next.gps.day = day;
+			next.gps.hour = hour;
+			next.gps.minute = minute;
+			next.gps.second = second;
+			next.gps.ground_speed = ground_speed * 1.0e-2;
+			next.gps.course = course * 2;
+			next.gps.climb_rate = climb_rate * 1.0e-2;
+			next.gps.hdop = hdop;
+			next.gps.vdop = vdop;
+			next.seen |= AltosRecord.seen_gps_time | AltosRecord.seen_gps_lat | AltosRecord.seen_gps_lon;
+			next.new_gps = true;
+		}
+
+		return next;
+	}
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordRaw.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordRaw.java
new file mode 100644
index 00000000..fb2b495c
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordRaw.java
@@ -0,0 +1,154 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+import java.lang.*;
+import java.text.*;
+import java.util.HashMap;
+
+public class AltosTelemetryRecordRaw implements AltosTelemetryRecord {
+	int[]	bytes;
+	int	serial;
+	int	tick;
+	int	type;
+
+	final static int packet_type_TM_sensor = 0x01;
+	final static int packet_type_Tm_sensor = 0x02;
+	final static int packet_type_Tn_sensor = 0x03;
+	final static int packet_type_configuration = 0x04;
+	final static int packet_type_location = 0x05;
+	final static int packet_type_satellite = 0x06;
+	final static int packet_type_companion = 0x07;
+	
+	final static int PKT_APPEND_STATUS_1_CRC_OK		= (1 << 7);
+	final static int PKT_APPEND_STATUS_1_LQI_MASK		= (0x7f);
+	final static int PKT_APPEND_STATUS_1_LQI_SHIFT		= 0;
+
+	static boolean cksum(int[] bytes) {
+		int	sum = 0x5a;
+		for (int i = 1; i < bytes.length - 1; i++)
+			sum += bytes[i];
+		sum &= 0xff;
+		return sum == bytes[bytes.length - 1];
+	}
+
+	public static AltosTelemetryRecord parse (String hex) throws ParseException, AltosCRCException {
+		AltosTelemetryRecord	r;
+
+		int[] bytes;
+		try {
+			bytes = Altos.hexbytes(hex);
+		} catch (NumberFormatException ne) {
+			throw new ParseException(ne.getMessage(), 0);
+		}
+
+		/* one for length, one for checksum */
+		if (bytes[0] != bytes.length - 2)
+			throw new ParseException(String.format("invalid length %d != %d\n",
+							       bytes[0],
+							       bytes.length - 2), 0);
+		if (!cksum(bytes))
+			throw new ParseException(String.format("invalid line \"%s\"", hex), 0);
+
+		int	rssi = Altos.int8(bytes, bytes.length - 3) / 2 - 74;
+		int	status = Altos.uint8(bytes, bytes.length - 2);
+
+		if ((status & PKT_APPEND_STATUS_1_CRC_OK) == 0)
+			throw new AltosCRCException(rssi);
+
+		/* length, data ..., rssi, status, checksum -- 4 bytes extra */
+		switch (bytes.length) {
+		case Altos.ao_telemetry_standard_len + 4:
+			int	type = Altos.uint8(bytes, 4 + 1);
+			switch (type) {
+			case packet_type_TM_sensor:
+			case packet_type_Tm_sensor:
+			case packet_type_Tn_sensor:
+				r = new AltosTelemetryRecordSensor(bytes, rssi);
+				break;
+			case packet_type_configuration:
+				r = new AltosTelemetryRecordConfiguration(bytes);
+				break;
+			case packet_type_location:
+				r = new AltosTelemetryRecordLocation(bytes);
+				break;
+			case packet_type_satellite:
+				r = new AltosTelemetryRecordSatellite(bytes);
+				break;
+			case packet_type_companion:
+				r = new AltosTelemetryRecordCompanion(bytes);
+				break;
+			default:
+				r = new AltosTelemetryRecordRaw(bytes);
+				break;
+			}
+			break;
+		case Altos.ao_telemetry_0_9_len + 4:
+			r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
+			break;
+		case Altos.ao_telemetry_0_8_len + 4:
+			r = new AltosTelemetryRecordLegacy(bytes, rssi, status);
+			break;
+		default:
+			throw new ParseException(String.format("Invalid packet length %d", bytes.length), 0);
+		}
+		return r;
+	}
+
+	public int int8(int off) {
+		return Altos.int8(bytes, off + 1);
+	}
+
+	public int uint8(int off) {
+		return Altos.uint8(bytes, off + 1);
+	}
+
+	public int int16(int off) {
+		return Altos.int16(bytes, off + 1);
+	}
+
+	public int uint16(int off) {
+		return Altos.uint16(bytes, off + 1);
+	}
+
+	public int uint32(int off) {
+		return Altos.uint32(bytes, off + 1);
+	}
+
+	public String string(int off, int l) {
+		return Altos.string(bytes, off + 1, l);
+	}
+
+	public AltosTelemetryRecordRaw(int[] in_bytes) {
+		bytes = in_bytes;
+		serial = uint16(0);
+		tick   = uint16(2);
+		type   = uint8(4);
+	}
+
+	public AltosRecord update_state(AltosRecord previous) {
+		AltosRecord	next;
+		if (previous != null)
+			next = new AltosRecord(previous);
+		else
+			next = new AltosRecord();
+		next.serial = serial;
+		next.tick = tick;
+		return next;
+	}
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordSatellite.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordSatellite.java
new file mode 100644
index 00000000..2dd782ad
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordSatellite.java
@@ -0,0 +1,52 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+public class AltosTelemetryRecordSatellite extends AltosTelemetryRecordRaw {
+	int		channels;
+	AltosGPSSat[]	sats;
+
+	public AltosTelemetryRecordSatellite(int[] in_bytes) {
+		super(in_bytes);
+
+		channels = uint8(5);
+		if (channels > 12)
+			channels = 12;
+		if (channels == 0)
+			sats = null;
+		else {
+			sats = new AltosGPSSat[channels];
+			for (int i = 0; i < channels; i++) {
+				int	svid =  uint8(6 + i * 2 + 0);
+				int	c_n_1 = uint8(6 + i * 2 + 1);
+				sats[i] = new AltosGPSSat(svid, c_n_1);
+			}
+		}
+	}
+
+	public AltosRecord update_state(AltosRecord previous) {
+		AltosRecord	next = super.update_state(previous);
+
+		if (next.gps == null)
+			next.gps = new AltosGPS();
+
+		next.gps.cc_gps_sat = sats;
+
+		return next;
+	}
+}
diff --git a/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordSensor.java b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordSensor.java
new file mode 100644
index 00000000..96fee81f
--- /dev/null
+++ b/altosui/altoslib/src/org/altusmetrum/AltosLib/AltosTelemetryRecordSensor.java
@@ -0,0 +1,104 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+package altosui;
+
+
+public class AltosTelemetryRecordSensor extends AltosTelemetryRecordRaw {
+	int	state;
+	int	accel;
+	int	pres;
+	int	temp;
+	int	v_batt;
+	int	sense_d;
+	int	sense_m;
+
+	int	acceleration;
+	int	speed;
+	int	height;
+
+	int	ground_accel;
+	int	ground_pres;
+	int	accel_plus_g;
+	int	accel_minus_g;
+
+	int	rssi;
+
+	public AltosTelemetryRecordSensor(int[] in_bytes, int in_rssi) {
+		super(in_bytes);
+		state         = uint8(5);
+
+		accel         = int16(6);
+		pres          = int16(8);
+		temp          = int16(10);
+		v_batt        = int16(12);
+		sense_d       = int16(14);
+		sense_m       = int16(16);
+
+		acceleration  = int16(18);
+		speed         = int16(20);
+		height        = int16(22);
+
+		ground_pres   = int16(24);
+		ground_accel  = int16(26);
+		accel_plus_g  = int16(28);
+		accel_minus_g = int16(30);
+
+		rssi	      = in_rssi;
+	}
+
+	public AltosRecord update_state(AltosRecord previous) {
+		AltosRecord	next = super.update_state(previous);
+
+		next.state = state;
+		if (type == packet_type_TM_sensor)
+			next.accel = accel;
+		else
+			next.accel = AltosRecord.MISSING;
+		next.pres = pres;
+		next.temp = temp;
+		next.batt = v_batt;
+		if (type == packet_type_TM_sensor || type == packet_type_Tm_sensor) {
+			next.drogue = sense_d;
+			next.main = sense_m;
+		} else {
+			next.drogue = AltosRecord.MISSING;
+			next.main = AltosRecord.MISSING;
+		}
+
+		next.acceleration = acceleration / 16.0;
+		next.speed = speed / 16.0;
+		next.height = height;
+
+		next.ground_pres = ground_pres;
+		if (type == packet_type_TM_sensor) {
+			next.ground_accel = ground_accel;
+			next.accel_plus_g = accel_plus_g;
+			next.accel_minus_g = accel_minus_g;
+		} else {
+			next.ground_accel = AltosRecord.MISSING;
+			next.accel_plus_g = AltosRecord.MISSING;
+			next.accel_minus_g = AltosRecord.MISSING;
+		}
+
+		next.rssi = rssi;
+
+		next.seen |= AltosRecord.seen_sensor | AltosRecord.seen_temp_volt;
+
+		return next;
+	}
+}