Came across this free e-book during my interwebz studies put out by the Bellingham Technical College Instrumentation and Control program, great combo of theoretical and practical with plenty of detailed color drawings and photos. Very relevant to our work.
It’s right at the top of the page. Just click on where it says Version 2.24 (stable): [PDF], it will take a while to load as it’s over 2k pages. When it opens you can just save it as a PDF.
Tony Kuphaldt, the author of that book, also put out a similar book called Lessons in Electrical Circuits. That book formed the original nucleus of www.allaboutcircuits.com, another great resource for engineers. The book itself is still available for download if you need something offline.
Adding more info to this good thread, this guy taught at a local college and has some amazing demonstration and test rigs to explain the theory and calibration of instrumentation.