Geodesics on an arbitrary ellipsoid of revolution

I just posted this on arXiv:

C. F. F. Karney
Geodesics on an arbitrary ellipsoid of revolution
(Aug., 2022)
http://arxiv.org/abs/2208.00492

This documents the algorithms used for the GeodesicExact class and
the -E options for GeodSolve and Planimeter