Add precession.
Add determinant.  Make sure that &basis() returns a
positively-oriented matrix!
More precision in dms output.
Fix bug: qrotbtwn() had the wrong sign!

Fix &basis(): don't abandon hope unless very nearly degenerate.
&dms2d() now accepts colon-separated values.

k2kira, kira2k: translate kira output files between short/long keywords.
tfm.pl: perl geometry/astronomy calculator/library.