Waypoints
The waypoint files are in txt format - readily imported into any spreadsheet program and manipulated to format to upload to your particular flavor of gps program. To be exact, they are in the format used by MacGPS software (cheap and convenient), so most convenient if you happen to have that.
Note: All the waypoints are written on the guidebook maps so you are not out of luck if you procrastinate. You are out of luck though if you don't have a handheld GPS. In this case, you'd best follow closely the folks in front of you...