Doran/Lasenby define a proper interval as:
\delta \tau = \int \sqrt{\frac{dx}{d\lambda} \cdot \frac{dx}{d\lambda}} d\lambda
(c=1, x= (t,x1,x2,x3) is a spacetime event, and the dot product has a +,-,-,- signature)
and say that this is called the proper time.
I can see that this...