rhs_n=SQRT( rhs_x*rhs_x + rhs_y*rhs_y )
rhs_a=ATAN2(rhs_y,rhs_x)
_RL mIceCor, rhs_x, rhs_y, rhs_n, rhs_a, sol_n, sol_a
rhs_y= -tauy_onIce_cntr +mIceCor*uvel_cntr
tmpscal1=rhs_x*rhs_x + rhs_y*rhs_y