Bookmark my free Interactive GPS Map for your phone:
https://andyarthur.org/ny

... shows your location as a blue dot in relationship to campsites, trails, state land. This online map requires cell service, won't work in remote country, so also bring a paper map.

Free Download of New & Historical USGS 1:24k Topograpic Maps

Interactive maps with backcountry and roadside camping: New York, Pennsylvania, West Virginia & Vermont. List of NYS DEC Lean-Tos and Firetowers.

Google Spreadsheet with Roadside, Primitive and Pay Campsites

More about Elm Ridge Wild Forest...

The 1,355-acre Elm Ridge Wild Forest is located in the northeast corner of the Catskill Forest Preserve. The unit contains a 1.5-mile portion of the Escarpment Trail, the 1.1-mile long Elm Ridge Trail, and numerous shorter trails available for multiple uses, including hiking, x-country skiing, and mountain biking. There are two parking areas that serve the unit, one on NYS Route 23 to the northwest and the other at the end of Peck Road to the south.

http://www.dec.ny.gov/lands/72784.html

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