Chibi-Scheme (code.google.com)
Chibi-Scheme is a very small library intended for use as an extension and scripting language in C programs. In addition to support for lightweight VM-based threads, each VM itself runs in an isolated heap allowing multiple VMs to run simultaneously in different OS threads. The default language is R7RS Scheme, including first-class continuations and low-and-high-level hygienic macros.
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[ 3.1 ms ] story [ 64.0 ms ] threadhttp://code.google.com/p/chibi-scheme/source/browse/doc/chib...
Note: I don't have access to the original manual link either, so I can't confirm that it's exactly the same document. It describes the language in details.
Or:
If you don't care for Rackets IDE, go with Guile, it's the official GNU extension language.
TL;DR find a Scheme implementation that is good at what you need and use it.
See http://daringfireball.net/2010/09/app_store_guidelines.