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// range = r0 + sqrt(x^2+y^2+z^2)
{
double tau0 = t0 + double(n+n0)*Ts;
double r0 = tau0 * c/double(2.0);
double range = 0.0;
{
double rx = r0*cos(b)*cos(a);
range += rx*rx;
}
{
double ry = r0*cos(b)*sin(a) -y;
range += ry*ry;
}