doc: Finish converting docs to asciidoc format

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

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-<?xml version="1.0" encoding="utf-8" ?>
-<!DOCTYPE book PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
-  "/usr/share/xml/docbook/schema/dtd/4.5/docbookx.dtd">
-<book>
-  <title>TeleGPS Owner's Manual</title>
-  <subtitle>A recording GPS tracker</subtitle>
-  <bookinfo>
-    <author>
-      <firstname>Keith</firstname>
-      <surname>Packard</surname>
-    </author>
-    <copyright>
-      <year>2015</year>
-      <holder>Bdale Garbee and Keith Packard</holder>
-    </copyright>
-    <mediaobject>
-      <imageobject>
-	<imagedata fileref="telegps-v1.0-top.jpg" width="4in"/>
-      </imageobject>
-    </mediaobject>
-    <legalnotice>
-      <para>
-        This document is released under the terms of the
-        <ulink url="http://creativecommons.org/licenses/by-sa/3.0/">
-          Creative Commons ShareAlike 3.0
-        </ulink>
-        license.
-      </para>
-    </legalnotice>
-    <revhistory>
-      <revision>
-	<revnumber>1.6</revnumber>
-	<date>8 January 2015</date>
-	<revremark>
-	  Major release adding TeleDongle v3.0 support.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.4.1</revnumber>
-	<date>20 June 2014</date>
-	<revremark>
-	  Minor release fixing some installation bugs.
-	</revremark>
-      </revision>
-      <revision>
-	<revnumber>1.4</revnumber>
-	<date>13 June 2014</date>
-	<revremark>
-	  Initial release
-	</revremark>
-      </revision>
-    </revhistory>
-  </bookinfo>
-  <dedication>
-    <title>Acknowledgements</title>
-    <para>
-      Have fun using these products, and we hope to meet all of you
-      out on the rocket flight line somewhere.
-      <literallayout>
-Bdale Garbee, KB0G
-NAR #87103, TRA #12201
-
-Keith Packard, KD7SQG
-NAR #88757, TRA #12200
-      </literallayout>
-    </para>
-  </dedication>
-  <chapter>
-    <title>Quick Start Guide</title>
-    <para>
-      TeleGPS is designed to be easy to use. Requiring no external
-      components, flying takes just a few steps.
-    </para>
-    <para>
-      First, download and install the software from <ulink
-      url="http://altusmetrum.org/AltOS"/>. This will make sure that
-      you have the right device drivers installed.
-    </para>
-    <para>
-      Next, plug in the battery and USB cable and connect TeleGPS to
-      your computer. This will charge the battery and allow you to
-      configure the device.
-    </para>
-    <para>
-      Start the TeleGPS application and set the callsign and frequency
-      on your TeleGPS device; refer to the Configure TeleGPS section
-      in the TeleGPS Application chapter for instructions.
-    </para>
-    <para>
-      Unplug TeleGPS when the battery charger light goes green. This
-      will enable the radio and logging portions of the TeleGPS
-      firmware.
-    </para>
-    <para>
-      Connect TeleDongle to your computer and start TeleGPS or start
-      AltosDroid on your android device and connect to TeleBT. Set the
-      frequency to match the TeleGPS and you should be receiving telemetry.
-    </para>
-  </chapter>
-  <chapter>
-    <title>Handling Precautions</title>
-    <para>
-      All Altus Metrum products are sophisticated electronic devices.  
-      When handled gently and properly installed in an air-frame, they
-      will deliver impressive results.  However, as with all electronic 
-      devices, there are some precautions you must take.
-    </para>
-    <para>
-      The Lithium polymer batteries have an
-      extraordinary power density.  This is great because we can fly with
-      much less battery mass... but if they are punctured
-      or their contacts are allowed to short, they can and will release their
-      energy very rapidly!
-      Thus we recommend that you take some care when handling TeleGPS
-      to keep conductive material from coming in contact with the exposed metal elements.
-    </para>
-    <para>
-      As with all other rocketry electronics, Altus Metrum devices must 
-      be protected from exposure to corrosive motor exhaust and ejection 
-      charge gasses.
-    </para>
-  </chapter>
-  <chapter>
-    <title>TeleGPS Hardware</title>
-    <section>
-      <title>Hooking Up Lithium Polymer Batteries</title>
-      <para>
-	TeleGPS has a two pin JST PH series connector to connect up
-	a single-cell Lithium Polymer cell (3.7V nominal). You can
-	purchase matching batteries from the Altus Metrum store, or
-	other vendors, or you can make your own. Pin 1 of the
-	connector is positive, pin 2 is negative. Spark Fun sells a
-	cable with the connector attached, which they call a <ulink
-	url="https://www.sparkfun.com/products/9914">JST Jumper 2
-	Wire Assembly</ulink>.
-      </para>
-      <para>
-	Many RC vendors also sell lithium polymer batteries with
-	this same connector. All that we have found use the opposite
-	polarity, and if you use them that way, you will damage or
-	destroy TeleGPS.
-      </para>
-    </section>
-    <section>
-      <title>On-board Data Recording</title>
-      <para>
-	TeleGPS logs GPS data at a user-configurable rate. Data are
-	logged to a 2MB on-board flash memory part, which can be
-	partitioned into several equal-sized blocks, one for each
-	flight. 64kB of this storage are reserved to hold
-	configuration data, leaving 1984kB for flight data.
-      </para>
-      <para>
-	The on-board flash is partitioned into separate flight logs,
-	each of a fixed maximum size. Increase the maximum size of
-	each log and you reduce the number of flights that can be
-	stored. Decrease the size and you can store more flights.
-      </para>
-      <para>
-	To compute the amount of space needed for a single log, you
-	can divide the expected time (in seconds) by the sample period
-	(by default, 1 second per sample) and then multiply the result
-	by 32 bytes per sample. For instance, a sample period of 1
-	second and a flight lasting one hour will take 32 * 3600 =
-	115200 bytes. TeleGPS does try to reduce log space used by not
-	recording position information when it isn't moving, so actual
-	space consumed may be less than this.
-      </para>
-      <para>
-	The default size allows for four flights of 496kB each, which
-	provides over four hours of logging at 1 sample per second.
-      </para>
-      <para>
-	TeleGPS will not overwrite existing flight data, so be sure to
-	download flight data and erase it from the onboard flash
-	before it fills up. TeleGPS will still report telemetry even
-	if memory is full, so the only thing you will lose is the
-	on-board data log.
-      </para>
-    </section>
-    <section>
-      <title>Installation</title>
-      <para>
-	The battery connectors are a standard 2-pin JST connector and
-	match batteries sold by Spark Fun. These batteries are
-	single-cell Lithium Polymer batteries that nominally provide 3.7
-	volts.  Other vendors sell similar batteries for RC aircraft
-	using mating connectors, however the polarity for those is
-	generally reversed from the batteries used by Altus Metrum
-	products. In particular, the Tenergy batteries supplied for use
-	in Featherweight flight computers are not compatible with Altus
-	Metrum flight computers or battery chargers. <emphasis>Check
-	polarity and voltage before connecting any battery not purchased
-	from Altus Metrum or Spark Fun.</emphasis>
-      </para>
-      <para>
-	TeleGPS uses an integrate GPS patch antenna and won't
-	receive GPS signals if installed inside a metal or carbon
-	fiber compartment. Test GPS reception and telemetry
-	transmission with the system installed and all other
-	electronics powered up to verify signal reception and make
-	sure there isn't any interference from other systems.
-      </para>
-    </section>
-  </chapter>
-  <chapter>
-    <title>System Operation</title>
-    <section>
-      <title>GFSK Telemetry</title>
-      <para>
-        TeleGPS's native telemetry system doesn't use a 'normal packet
-        radio' mode like APRS because it's not very efficient.  The
-        GFSK modulation we use is FSK with the base-band pulses passed
-        through a Gaussian filter before they go into the modulator to
-        limit the transmitted bandwidth.  When combined with forward
-        error correction and interleaving, this allows us to have a
-        very robust 19.2 kilobit data link with only 10-40 milliwatts
-        of transmit power, a whip antenna in the rocket, and a
-        hand-held Yagi on the ground.  We've had flights to above 21k
-        feet AGL with great reception, and calculations suggest we
-        should be good to well over 40k feet AGL with a 5-element yagi
-        on the ground with our 10mW units and over 100k feet AGL with
-        the 40mW devices.
-      </para>
-    </section>
-    <section>
-      <title>APRS</title>
-      <para>
-	TeleGPS can send APRS if desired, and the
-	interval between APRS packets can be configured. As each APRS
-	packet takes a full second to transmit, we recommend an
-	interval of at least 5 seconds to avoid consuming too much
-	battery power or radio channel bandwidth. You can configure
-	the APRS interval using AltosUI; that process is described in
-	the Configure Altimeter section of the AltosUI chapter.
-      </para>
-      <para>
-	AltOS uses the APRS compressed position report data format,
-	which provides for higher position precision and shorter
-	packets than the original APRS format. It also includes
-	altitude data, which is invaluable when tracking rockets. We
-	haven't found a receiver which doesn't handle compressed
-	positions, but it's just possible that you have one, so if you
-	have an older device that can receive the raw packets but
-	isn't displaying position information, it's possible that this
-	is the cause.
-      </para>
-      <para>
-	The APRS packet format includes a comment field that can have
-	arbitrary text in it. AltOS uses this to send status
-	information about the flight computer. It sends four fields as
-	shown in the following table.
-      </para>
-      <table frame='all'>
-	<title>Altus Metrum APRS Comments</title>
-	<?dbfo keep-together="always"?>
-	<tgroup cols='3' align='center' colsep='1' rowsep='1'>
-	  <colspec align='center' colwidth='*' colname='Field'/>
-	  <colspec align='center' colwidth='*' colname='Example'/>
-	  <colspec align='center' colwidth='4*' colname='Description'/>
-	  <thead>
-	    <row>
-	      <entry align='center'>Field</entry>
-	      <entry align='center'>Example</entry>
-	      <entry align='center'>Description</entry>
-	    </row>
-	  </thead>
-	  <tbody>
-	    <row>
-	      <entry>1</entry>
-	      <entry>L</entry>
-	      <entry>GPS Status U for unlocked, L for locked</entry>
-	    </row>
-	    <row>
-	      <entry>2</entry>
-	      <entry>6</entry>
-	      <entry>Number of Satellites in View</entry>
-	    </row>
-	    <row>
-	      <entry>3</entry>
-	      <entry>B4.0</entry>
-	      <entry>Battery Voltage</entry>
-	    </row>
-	  </tbody>
-	</tgroup>
-      </table>
-      <para>
-	Here's an example of an APRS comment showing GPS lock with 6
-	satellites in view and a battery at 4.0V.
-	<screen>
-	  L6 B4.0
-	</screen>
-      </para>
-      <para>
-	Make sure your primary battery is above 3.8V and GPS is locked
-	with at least 5 or 6 satellites in view before starting. If GPS
-	is switching between L and U regularly, then it doesn't have a
-	good lock and you should wait until it becomes stable.
-      </para>
-      <para>
-	If the GPS receiver loses lock, the APRS data transmitted will
-	contain the last position for which GPS lock was
-	available. You can tell that this has happened by noticing
-	that the GPS status character switches from 'L' to 'U'. Before
-	GPS has locked, APRS will transmit zero for latitude,
-	longitude and altitude.
-      </para>
-    </section>
-    <section>
-      <title>Configurable Parameters</title>
-      <para>
-        Configuring TeleGPS is very
-        simple; the few configurable parameters can all be set
-        using the TeleGPS application over USB. Read
-	the Configure TeleGPS section in the TeleGPS Software chapter below
-	for more information.
-      </para>
-      <section>
-        <title>Radio Frequency</title>
-        <para>
-	  Altus Metrum boards support radio frequencies in the 70cm
-	  band. By default, the configuration interface provides a
-	  list of 10 “standard” frequencies in 100kHz channels starting at
-	  434.550MHz.  However, the firmware supports use of
-	  any 50kHz multiple within the 70cm band. At any given
-	  launch, we highly recommend coordinating when and by whom each
-	  frequency will be used to avoid interference.  And of course, both
-	  TeleGPS and the receiver must be configured to the same
-	  frequency to successfully communicate with each other.
-        </para>
-      </section>
-      <section>
-	<title>Callsign</title>
-	<para>
-	  This sets the callsign used for telemetry and APRS to
-	  identify the device.
-	</para>
-      </section>
-      <section>
-	<title>Telemetry/RDF/APRS Enable</title>
-	<para>
-	  You can completely disable the radio, if necessary, leaving
-	  TeleGPS only logging data to internal memory.
-	</para>
-      </section>
-      <section>
-	<title>APRS Interval</title>
-	<para>
-	  This selects how often APRS packets are transmitted. Set
-	  this to zero to disable APRS without also disabling the
-	  regular telemetry and RDF transmissions. As APRS takes a
-	  full second to transmit a single position report, we
-	  recommend sending packets no more than once every 5 seconds.
-	</para>
-      </section>
-      <section>
-	<title>Maximum Flight Log</title>
-	<para>
-	  Changing this value will set the maximum amount of flight
-	  log storage that an individual flight will use. The
-	  available storage is divided into as many flights of the
-	  specified size as can fit in the available space. You can
-	  download and erase individual flight logs. If you fill up
-	  the available storage, future flights will not get logged
-	  until you erase some of the stored ones.
-	</para>
-      </section>
-      <section>
-	<title>Logging Trigger Motion</title>
-	<para>
-	  If TeleGPS moves less than this distance over a long period
-	  of time, it will not log that location, saving storage space.
-	</para>
-      </section>
-      <section>
-	<title>Position Reporting Interval</title>
-	<para>
-	  This sets how often TeleGPS reports position information via
-	  telemetry and to the on-board log. Reducing this value will
-	  save power and logging memory consumption.
-	</para>
-      </section>
-    </section>
-  </chapter>
-  <chapter>
-    <title>TeleGPS Application</title>
-    <para>
-      The TeleGPS application provides a graphical user interface for
-      interacting with the Altus Metrum product family. TeleGPS can
-      monitor telemetry data, configure devices and many other
-      tasks. The primary interface window is for displaying data
-      received over the telemetry link. There are additional
-      tasks available from the main window menu bar. This chapter
-      is split into sections, each of which documents one of the tasks
-      provided from the top-level toolbar.
-    </para>
-    <section>
-      <title>Telemetry Monitoring</title>
-      <para>
-	This is the window brought up when you start the
-	application. If you have a TeleDongle device connected to the
-	computer, it will automatically be selected for telemetry monitoring
-      </para>
-      <para>
-        All telemetry data received are automatically recorded in
-        suitable log files. The name of the files includes the current
-        date and TeleGPS serial and flight numbers.
-      </para>
-      <para>
-        The radio frequency being monitored by the TeleDongle device
-        is displayed at the top of the window. You can configure the
-        frequency by clicking on the frequency box and selecting the
-        desired frequency. The TeleGPS application remembers the last
-        frequency selected for each TeleDongle and selects that
-        automatically the next time you use that device.
-      </para>
-      <para>
-        Below the TeleDongle frequency selector, the window contains a few
-        significant pieces of information about the altimeter providing
-        the telemetry data stream:
-      </para>
-      <itemizedlist>
-        <listitem>
-          <para>The configured call-sign</para>
-        </listitem>
-        <listitem>
-          <para>The device serial number</para>
-        </listitem>
-        <listitem>
-          <para>The flight number. TeleGPS remembers how many
-          times it has flown.
-          </para>
-        </listitem>
-        <listitem>
-          <para>
-            The Received Signal Strength Indicator value. This lets
-            you know how strong a signal TeleDongle is receiving. The
-            radio inside TeleDongle operates down to about -100dBm;
-            weaker signals may not be receivable. The packet link uses
-            error detection and correction techniques which prevent
-            incorrect data from being reported.
-          </para>
-        </listitem>
-        <listitem>
-          <para>
-            The age of the displayed data, in seconds since the last 
-	    successfully received telemetry packet.  In normal operation
-	    this will stay in the low single digits.  If the number starts
-	    counting up, then you are no longer receiving data over the radio
-	    link from the flight computer.
-          </para>
-        </listitem>
-      </itemizedlist>
-      <para>
-        Finally, the largest portion of the window contains a set of
-        tabs, each of which contain some information about the TeleGPS
-        board. The final 'table' tab displays many of the raw telemetry
-        values in one place in a spreadsheet-like format.
-      </para>
-      <section>
-        <title>Map</title>
-        <para>
-          The Map tab shows the TeleGPS track over time on top of map
-	  data making it easy to locate the device.
-        </para>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="telegps-map.png" width="5.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-        <para>
-          The map's default scale is approximately 3m (10ft) per pixel. The map
-          can be dragged using the left mouse button. The map will attempt
-          to keep the rocket roughly centered while data is being received.
-        </para>
-	<para>
-	  You can adjust the style of map and the zoom level with
-	  buttons on the right side of the map window. You can draw a
-	  line on the map by moving the mouse over the map with a
-	  button other than the left one pressed, or by pressing the
-	  left button while also holding down the shift key. The
-	  length of the line in real-world units will be shown at the
-	  start of the line.
-	</para>
-        <para>
-          Images are fetched automatically via the Google Maps Static API,
-          and cached on disk for reuse. If map images cannot be downloaded,
-          the rocket's path will be traced on a dark gray background
-          instead.
-        </para>
-	<para>
-	  You can pre-load images for your favorite launch sites
-	  before you leave home; check out the 'Preload Maps' section below.
-	</para>
-      </section>
-      <section>
-	<title>Location</title>
-	<para>
-	  The Location tab shows the raw GPS data received from TeleGPS.
-	</para>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="telegps-location.png" width="5.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-      </section>
-      <section>
-	<title>Status</title>
-	<para>
-	  The Status tab shows data relative to the location of
-	  TeleGPS when the application first received telemetry from
-	  it.
-	</para>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="telegps-status.png" width="5.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-      </section>
-      <section>
-	<title>Table</title>
-	<para>
-	  The Table tab shows detailed information about the GPS
-	  receiver
-	</para>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="telegps-table.png" width="5.5in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-      </section>
-    </section>
-    <!--
-	<variablelist>
-	  <varlistentry>
-	    <term></term>
-	    <listitem>
-	      <para>
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	</variablelist>
-    -->
-    <section>
-      <title>TeleGPS Menus</title>
-      <para>
-	TeleGPS has three or four menus at the top of the window:
-	<variablelist>
-	  <varlistentry>
-	    <term>File</term>
-	    <listitem>
-	      <para>
-		New Window, Graph Data, Export Data, Load Maps, Preferences, Close and Exit
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Monitor</term>
-	    <listitem>
-	      <para>
-		Connect Device, Disconnect and Scan Channels
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Device</term>
-	    <listitem>
-	      <para>
-		Download Data, Configure Device and Flash Device
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Frequency</term>
-	    <listitem>
-	      <para>
-		This shows the current monitoring frequency with a
-		drop-down menu listing other configured
-		frequencies. You can change the set of frequencies
-		shown here from the Preferences dialog. This menu is
-		only shown when the TeleGPS application is connected
-		to a TeleDongle or TeleBT device.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	</variablelist>
-      </para>
-      <section>
-	<title>New Window</title>
-	<para>
-	  This creates another telemetry monitoring window, in case
-	  you have multiple TeleDongle devices connected to the
-	  computer.
-	</para>
-      </section>
-      <section>
-	<title>Graph Data</title>
-	<para>
-	  This brings up a file dialog to load a saved log, either
-	  a .telem file of recorded telemetry or .eeprom of saved
-	  data from on-board memory. It looks a bit like the flight
-	  monitoring window, using a selection of tabs to show
-	  different views of the saved data.
-	</para>
-	<section>
-	  <title>Graph</title>
-	  <para>
-	    The Graph tab shows a plot of the the GPS data
-	    collected. The X axis is time in seconds; there are a
-	    variety of Y axes available for different kinds of data.
-	  </para>
-	  <informalfigure>
-	    <mediaobject>
-	      <imageobject>
-		<imagedata fileref="telegps-graph-graph.png" width="6in" scalefit="1"/>
-	      </imageobject>
-	    </mediaobject>
-	  </informalfigure>
-	</section>
-	<section>
-	  <title>Configure Graph</title>
-	  <informalfigure>
-	    <mediaobject>
-	      <imageobject>
-		<imagedata fileref="telegps-graph-configure.png" width="6in" scalefit="1"/>
-	      </imageobject>
-	    </mediaobject>
-	  </informalfigure>
-	  <para>
-	    This selects which graph elements to show, and, at the
-	    bottom, lets you switch between metric and imperial units
-	  </para>
-	</section>
-	<section>
-	  <title>Statistics</title>
-	  <informalfigure>
-	    <mediaobject>
-	      <imageobject>
-		<imagedata fileref="telegps-graph-stats.png" width="6in" scalefit="1"/>
-	      </imageobject>
-	    </mediaobject>
-	  </informalfigure>
-	  <para>
-	    Shows overall data computed from the flight.
-	  </para>
-	</section>
-	<section>
-	  <title>Map</title>
-	  <informalfigure>
-	    <mediaobject>
-	      <imageobject>
-		<imagedata fileref="telegps-graph-map.png" width="6in" scalefit="1"/>
-	      </imageobject>
-	    </mediaobject>
-	  </informalfigure>
-	  <para>
-	    Shows a map of the area overlaid with the GPS track. As with
-	    the telemetry monitoring window, you can select the style
-	    of map and zoom level using buttons along the side;
-	    you can scroll the map by dragging within the map pressing
-	    the left button and you can draw a line to measure
-	    distances using either the left button with the shift key,
-	    or any other button.
-	  </para>
-	</section>
-      </section>
-      <section>
-	<title>Export Data</title>
-	<para>
-          This tool takes the raw data files and makes them available for
-          external analysis. When you select this button, you are prompted to 
-	  select a data file, which can be either a .eeprom or .telem.
-	  The .eeprom files contain higher resolution and more continuous data, 
-	  while .telem files contain receiver signal strength information.  
-	  Next, a second dialog appears which is used to select
-          where to write the resulting file. It has a selector to choose
-          between CSV and KML file formats.
-	</para>
-	<section>
-          <title>Comma Separated Value Format</title>
-          <para>
-            This is a text file containing the data in a form suitable for
-            import into a spreadsheet or other external data analysis
-            tool. The first few lines of the file contain the version and
-            configuration information from TeleGPS, then
-            there is a single header line which labels all of the
-            fields. All of these lines start with a '#' character which
-            many tools can be configured to skip over.
-          </para>
-          <para>
-            The remaining lines of the file contain the data, with each
-            field separated by a comma and at least one space. All of
-            the sensor values are converted to standard units, with the
-            barometric data reported in both pressure, altitude and
-            height above pad units.
-          </para>
-	</section>
-	<section>
-          <title>Keyhole Markup Language (for Google Earth)</title>
-          <para>
-            This is the format used by Google Earth to provide an overlay 
-	    within that application. With this, you can use Google Earth to 
-	    see the whole flight path in 3D.
-          </para>
-	</section>
-      </section>
-      <section>
-	<title>Load Maps</title>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="load-maps.png" width="5.2in" scalefit="1"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-	<para>
-	  Before using TeleGPS, you can use Load Maps to load map data
-	  in case you don't have access to the internet while
-	  receiving telemetry.
-	</para>
-	<para>
-	  There's a drop-down menu of rocket launch sites we know
-	  about; if your favorites aren't there, please let us know
-	  the lat/lon and name of the site. The contents of this list
-	  are actually downloaded from our server at run-time, so as
-	  new sites are sent in, they'll get automatically added to
-	  this list.  If the launch site isn't in the list, you can
-	  manually enter the lat/lon values
-	</para>
-	<para>
-	  There are four different kinds of maps you can view; you can
-	  select which to download by selecting as many as you like from
-	  the available types:
-	  <variablelist>
-	    <varlistentry>
-	      <term>Hybrid</term>
-	      <listitem>
-		<para>
-		  A combination of satellite imagery and road data. This
-		  is the default view.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>Satellite</term>
-	      <listitem>
-		<para>
-		  Just the satellite imagery without any annotation.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>Roadmap</term>
-	      <listitem>
-		<para>
-		  Roads, political boundaries and a few geographic features.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>Terrain</term>
-	      <listitem>
-		<para>
-		  Contour intervals and shading that show hills and
-		  valleys.
-		</para>
-	      </listitem>
-	    </varlistentry>
-	  </variablelist>
-	</para>
-	<para>
-	  You can specify the range of zoom levels to download; smaller
-	  numbers show more area with less resolution. The default
-	  level, 0, shows about 3m/pixel. One zoom level change
-	  doubles or halves that number.
-	</para>
-	<para>
-	  The Tile Radius value sets how large an area around the center
-	  point to download. Each tile is 512x512 pixels, and the
-	  'radius' value specifies how many tiles away from the center
-	  will be downloaded. Specify a radius of 0 and you get only the
-	  center tile. A radius of 1 loads a 3x3 grid, centered on the
-	  specified location.
-	</para>
-	<para>
-	  Clicking the 'Load Map' button will fetch images from Google
-	  Maps; note that Google limits how many images you can fetch at
-	  once, so if you load more than one launch site, you may get
-	  some gray areas in the map which indicate that Google is tired
-	  of sending data to you. Try again later.
-	</para>
-      </section>
-      <section>
-	<title>Preferences</title>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="telegps-preferences.png" width="2.4in" scalefit="1"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-	<section>
-          <title>Voice Settings</title>
-          <para>
-            AltosUI provides voice announcements during flight so that you
-            can keep your eyes on the sky and still get information about
-            the current flight status. However, sometimes you don't want
-            to hear them.
-          </para>
-          <variablelist>
-	    <varlistentry>
-	      <term>Enable</term>
-	      <listitem>
-		<para>Turns all voice announcements on and off</para>
-	      </listitem>
-	    </varlistentry>
-	    <varlistentry>
-	      <term>Test Voice</term>
-	      <listitem>
-		<para>
-		  Plays a short message allowing you to verify
-		  that the audio system is working and the volume settings
-		  are reasonable
-		</para>
-	      </listitem>
-	    </varlistentry>
-          </variablelist>
-	</section>
-	<section>
-          <title>Log Directory</title>
-          <para>
-            AltosUI logs all telemetry data and saves all TeleMetrum flash
-            data to this directory. This directory is also used as the
-            staring point when selecting data files for display or export.
-          </para>
-          <para>
-            Click on the directory name to bring up a directory choosing
-            dialog, select a new directory and click 'Select Directory' to
-            change where AltosUI reads and writes data files.
-          </para>
-	</section>
-	<section>
-          <title>Callsign</title>
-          <para>
-            This value is transmitted in each command packet sent from 
-	    TeleDongle and received from an altimeter.  It is not used in 
-	    telemetry mode, as the callsign configured in the altimeter board
-	    is included in all telemetry packets.  Configure this
-            with the AltosUI operators call sign as needed to comply with
-            your local radio regulations.
-          </para>
-          <para>
-	    Note that to successfully command a flight computer over the radio
-	    (to configure the altimeter, monitor idle, or fire pyro charges), 
-	    the callsign configured here must exactly match the callsign
-	    configured in the flight computer.  This matching is case 
-	    sensitive.
-          </para>
-	</section>
-	<section>
-	  <title>Imperial Units</title>
-	  <para>
-	    This switches between metric units (meters) and imperial
-	    units (feet and miles). This affects the display of values
-	    use during flight monitoring, configuration, data graphing
-	    and all of the voice announcements. It does not change the
-	    units used when exporting to CSV files, those are always
-	    produced in metric units.
-	  </para>
-	</section>
-	<section>
-          <title>Serial Debug</title>
-          <para>
-            This causes all communication with a connected device to be
-            dumped to the console from which AltosUI was started. If
-            you've started it from an icon or menu entry, the output
-            will simply be discarded. This mode can be useful to debug
-            various serial communication issues.
-          </para>
-	</section>
-	<section>
-	  <title>Font Size</title>
-	  <para>
-	    Selects the set of fonts used in the flight monitor
-	    window. Choose between the small, medium and large sets.
-	  </para>
-	</section>
-	<section>
-	  <title>Look &amp; Feel</title>
-	  <para>
-	    Adjust the style of the windows. By default, the TeleGPS
-	    application attempts to blend in with the native style.
-	  </para>
-	</section>
-	<section>
-	  <title>Manage Frequencies</title>
-	  <para>
-	    This brings up a dialog where you can configure the set of
-	    frequencies shown in the various frequency menus. You can
-	    add as many as you like, or even reconfigure the default
-	    set. Changing this list does not affect the frequency
-	    settings of any devices, it only changes the set of
-	    frequencies shown in the menus.
-	  </para>
-	</section>
-      </section>
-      <section>
-	<title>Close</title>
-	<para>
-	  This closes the current window, leaving any other windows
-	  open and the application running.
-	</para>
-      </section>
-      <section>
-	<title>Exit</title>
-	<para>
-	  This closes all TeleGPS windows and terminates the application.
-	</para>
-      </section>
-      <section>
-	<title>Connect Device</title>
-	<para>
-          Selecting this item brings up a dialog box listing all of
-          the connected TeleDongle devices. When you choose one of
-          these, AltosUI will display telemetry data as received by
-          the selected TeleDongle device.
-	</para>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="device-selection.png" width="3.1in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-      </section>
-      <section>
-	<title>Disconnect</title>
-	<para>
-	  Disconnects the currently connected TeleDongle or TeleBT
-	</para>
-      </section>
-      <section>
-	<title>Scan Channels</title>
-	<para>
-	  Scans the configured set of frequencies looking for
-	  telemetry signals. A list of all of the discovered signals
-	  is show; selecting one of those and clicking on 'Monitor'
-	  will select that frequency in the associated TeleGPS
-	  application window.
-	</para>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="telegps-scan.png" width="3.1in"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-      </section>
-      <section>
-	<title>Download Data</title>
-	<para>
-          TeleGPS records data to its internal flash memory.
-          On-board data is recorded at the same rate as telemetry
-          but is not subject to radio drop-outs. As
-          such, it generally provides a more complete and precise record.
-          The 'Download Data' menu entry allows you to read the
-          flash memory and write it to disk. 
-	</para>
-	<para>
-          Select the 'Download Data' menu entry to bring up a list of
-          connected TeleGPS devices. After the device has been
-          selected, a dialog showing the data stored in the
-          device will be shown allowing you to select which entries to
-          download and which to delete. You must erase flights in order for the space they
-          consume to be reused by another track. This prevents
-          accidentally losing data if you neglect to download
-          data before starting TeleGPS again. Note that if there is no more
-          space available in the device, then no data will be recorded.
-	</para>
-	<para>
-          The file name for each data log is computed automatically
-          from the recorded date, altimeter serial number and flight
-          number information.
-	</para>
-      </section>
-      <section>
-	<title>Configure Device</title>
-	<informalfigure>
-	  <mediaobject>
-	    <imageobject>
-	      <imagedata fileref="telegps-configure.png" width="3.6in" scalefit="1"/>
-	    </imageobject>
-	  </mediaobject>
-	</informalfigure>
-	<para>
-          Select this button and then select any connected TeleGPS
-          device from the list provided.
-	</para>
-	<para>
-          The first few lines of the dialog provide information about the
-          connected device, including the product name,
-          software version and hardware serial number. Below that are the
-          individual configuration entries.
-	</para>
-	<para>
-          At the bottom of the dialog, there are four buttons:
-	</para>
-	<variablelist>
-	  <varlistentry>
-	    <term>Save</term>
-	    <listitem>
-	      <para>
-		This writes any changes to the
-		configuration parameter block in flash memory. If you don't
-		press this button, any changes you make will be lost.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Reset</term>
-	    <listitem>
-	      <para>
-		This resets the dialog to the most recently saved values,
-		erasing any changes you have made.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Reboot</term>
-	    <listitem>
-	      <para>
-		This reboots the device. This will restart logging for
-		a new flight number, if any log information has been
-		saved for the current flight.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>Close</term>
-	    <listitem>
-	      <para>
-		This closes the dialog. Any unsaved changes will be
-		lost.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	</variablelist>
-	<para>
-          The rest of the dialog contains the parameters to be configured.
-	</para>
-	<section>
-          <title>Frequency</title>
-          <para>
-            This configures which of the frequencies to use for both
-            telemetry and packet command mode. Note that if you set this
-            value via packet command mode, the TeleDongle frequency will
-            also be automatically reconfigured to match so that
-            communication will continue afterwards.
-          </para>
-	</section>
-	<section>
-          <title>RF Calibration</title>
-          <para>
-            The radios in every Altus Metrum device are calibrated at the
-            factory to ensure that they transmit and receive on the
-            specified frequency.  If you need to you can adjust the calibration 
-	    by changing this value.  Do not do this without understanding what
-	    the value means, read the appendix on calibration and/or the source
-	    code for more information.  To change a TeleDongle's calibration, 
-	    you must reprogram the unit completely.
-          </para>
-	</section>
-	<section>
-	  <title>Telemetry/RDF/APRS Enable</title>
-	  <para>
-	    Enables the radio for transmission during flight. When
-	    disabled, the radio will not transmit anything during flight
-	    at all.
-	  </para>
-	</section>
-	<section>
-	  <title>APRS Interval</title>
-	  <para>
-	    How often to transmit GPS information via APRS (in
-	    seconds). When set to zero, APRS transmission is
-	    disabled. This option is available on TeleMetrum v2 and
-	    TeleMega boards. TeleMetrum v1 boards cannot transmit APRS
-	    packets. Note that a single APRS packet takes nearly a full
-	    second to transmit, so enabling this option will prevent
-	    sending any other telemetry during that time.
-	  </para>
-	</section>
-	<section>
-          <title>Callsign</title>
-          <para>
-            This sets the call sign included in each telemetry packet. Set this
-            as needed to conform to your local radio regulations.
-          </para>
-	</section>
-	<section>
-          <title>Maximum Log Size</title>
-          <para>
-            This sets the space (in kilobytes) allocated for each data
-            log. The available space will be divided into chunks of this
-            size. A smaller value will allow more logs to be stored,
-            a larger value will record data for longer times.
-	  </para>
-	</section>
-	<section>
-	  <title>Logging Trigger Motion</title>
-	  <para>
-	    If TeleGPS moves less than this distance over a long period
-	    of time, it will not log that location, saving storage space.
-	  </para>
-	</section>
-	<section>
-	  <title>Position Reporting Interval</title>
-	  <para>
-	    This sets how often TeleGPS reports position information via
-	    telemetry and to the on-board log. Reducing this value will
-	    save power and logging memory consumption.
-	  </para>
-	</section>
-      </section>
-      <section>
-	<title>Flash Device</title>
-	<para>
-          This reprograms TeleGPS devices with new firmware. Please
-          read the directions for flashing devices in the Updating
-          Device Firmware chapter below.
-	</para>
-      </section>
-    </section>
-  </chapter>
-  <chapter>
-    <title>Updating Device Firmware</title>
-    <para>
-      TeleGPS is programmed directly over its USB connectors.
-    </para>
-    <para>
-      You may wish to begin by ensuring you have current firmware images.
-      These are distributed as part of the TeleGPS software bundle that
-      also includes the TeleGPS ground station program.  Newer ground
-      station versions typically work fine with older firmware versions,
-      so you don't need to update your devices just to try out new
-      software features.  You can always download the most recent
-      version from <ulink url="http://www.altusmetrum.org/AltOS/"/>.
-    </para>
-    <section>
-      <title>
-	Updating TeleGPS Firmware
-      </title>
-      <orderedlist inheritnum='inherit' numeration='arabic'>
-	<listitem>
-	  <para>
-	    Attach a battery and power switch to the target
-	    device. Power up the device.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Using a Micro USB cable, connect the target device to your
-	    computer's USB socket.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Run TeleGPS, and select 'Flash Device' from the Device menu.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Select the target device in the Device Selection dialog.
-	  </para>
-	</listitem>
-	<listitem>
-	  <para>
-	    Select the image you want to flash to the device, which
-	    should have a name in the form
-	    &lt;product&gt;-v&lt;product-version&gt;-&lt;software-version&gt;.ihx, such
-	    as TeleGPS-v1.0-1.4.0.ihx.
-	  </para>
-	</listitem>
-        <listitem>
-	  <para>
-	    Make sure the configuration parameters are reasonable
-	    looking. If the serial number and/or RF configuration
-	    values aren't right, you'll need to change them.
-	  </para>
-        </listitem>
-        <listitem>
-	  <para>
-	    Hit the 'OK' button and the software should proceed to flash
-	    the device with new firmware, showing a progress bar.
-	  </para>
-        </listitem>
-	<listitem>
-	  <para>
-	    Verify that the device is working by using the 'Configure
-	    Altimeter' item to check over the configuration.
-	  </para>
-	</listitem>
-      </orderedlist>
-<!--
-      <section>
-	<title>Recovering From Self-Flashing Failure</title>
-	<para>
-	  If the firmware loading fails, it can leave the device
-	  unable to boot. Not to worry, you can force the device to
-	  start the boot loader instead, which will let you try to
-	  flash the device again.
-	</para>
-	<para>
-	  On each device, connecting two pins from one of the exposed
-	  connectors will force the boot loader to start, even if the
-	  regular operating system has been corrupted in some way.
-	</para>
-	<variablelist>
-	  <varlistentry>
-	    <term>TeleMega</term>
-	    <listitem>
-	      <para>
-		Connect pin 6 and pin 1 of the companion connector. Pin 1
-		can be identified by the square pad around it, and then
-		the pins could sequentially across the board. Be very
-		careful to <emphasis>not</emphasis> short pin 8 to
-		anything as that is connected directly to the battery. Pin
-		7 carries 3.3V and the board will crash if that is
-		connected to pin 1, but shouldn't damage the board.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>TeleMetrum v2</term>
-	    <listitem>
-	      <para>
-		Connect pin 6 and pin 1 of the companion connector. Pin 1
-		can be identified by the square pad around it, and then
-		the pins could sequentially across the board. Be very
-		careful to <emphasis>not</emphasis> short pin 8 to
-		anything as that is connected directly to the battery. Pin
-		7 carries 3.3V and the board will crash if that is
-		connected to pin 1, but shouldn't damage the board.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	  <varlistentry>
-	    <term>EasyMini</term>
-	    <listitem>
-	      <para>
-		Connect pin 6 and pin 1 of the debug connector, which is
-		the six holes next to the beeper. Pin 1 can be identified
-		by the square pad around it, and then the pins could
-		sequentially across the board, making Pin 6 the one on the
-		other end of the row.
-	      </para>
-	    </listitem>
-	  </varlistentry>
-	</variablelist>
-      </section>
-    -->
-    </section>
-  </chapter>
-  <chapter>
-    <title>Technical Information</title>
-    <section>
-      <title>GPS Receiver</title>
-      <para>
-	TeleGPS uses the u-Blox Max-7Q GPS receiver.
-      </para>
-    </section>
-    <section>
-      <title>Micro-controller</title>
-      <para>
-	TeleGPS uses an NXP LPC11U14 micro-controller. This tiny
-	CPU contains 32kB of flash for the application and 4kB of RAM for
-	temporary data storage.
-      </para>
-    </section>
-    <section>
-      <title>Lithium Polymer Battery</title>
-      <para>
-	Shipping restrictions may prevent us from including a battery
-	battery with TeleGPS.
-      </para>
-    </section>
-    <section>
-      <title>Mechanical Considerations</title>
-      <para>
-	TeleGPS is designed to be rugged enough for typical rocketry
-	applications.  The 4 mounting holes on the board are sized for 
-	use with 4-40 or M3 screws.
-      </para>
-    </section>
-    <section>
-      <title>On-board data storage</title>
-      <para>
-	TeleGPS has 2MB of non-volatile storage, separate from the
-	code storage memory. The TeleGPS firmware uses this to log
-	information during flight.
-      </para>
-    </section>
-  </chapter>
-  <appendix>
-    <title>Release Notes</title>
-    <simplesect>
-      <title>Version 1.6</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.6.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 1.4.1</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.4.1.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-    <simplesect>
-      <title>Version 1.4</title>
-      <xi:include
-	  xmlns:xi="http://www.w3.org/2001/XInclude"
-	  href="release-notes-1.4.xsl"
-	  xpointer="xpointer(/article/*)"/>
-    </simplesect>
-  </appendix>
-</book>
-<!--  LocalWords:  Altusmetrum TeleGPS
--->