Heimdall errors, "ERROR: Failed to detect compatible download-mode device." When trying to flash a Galaxy S3 (ATT), I get


  ERROR: Failed to detect compatible download-mode device.


below is the log,

$ sudo heimdall flash --RECOVERY recovery.img
Heimdall v1.4.0

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This software is provided free of charge. Copying and redistribution is
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Initialising connection...
Detecting device...
ERROR: Failed to detect compatible download-mode device.
Start off by making sure that you're plugged into a USB 2.0 port. Then,

put the device in download-mode,


  $ sudo adb reboot download


continue flashing with heimdall,


  $ sudo heimdall flash --RECOVERY recovery.img


That should work,

Initialising connection...
Detecting device...
Claiming interface...
Attempt failed. Detaching driver...
Claiming interface again...
Setting up interface...

Initialising protocol...
Protocol initialisation successful.

Beginning session...

Some devices may take up to 2 minutes to respond.
Please be patient!

Session begun.

Downloading device's PIT file...
PIT file download successful.

Uploading RECOVERY
100%
RECOVERY upload successful

Ending session...
Rebooting device...
Releasing device interface...
Re-attaching kernel driver...