This invention is in the field of terminally guided, anit-armor missiles. Heretofore known terminal guidance missile systems have used proportional navigation with limited trajectory shaping for high accuracy against moving targets. This limited use of trajectory shaping results in either a flat approach trajectory which has reduced warhead penetration or a lofted or ballistic like trajectory. The ballistic like trajectory is often unable to perform well when low cloud cover condition exists. The including of a gimbal angle regulator and boost/cruise trajectory shaping allows low altitude ground or air launch, climb to cruise altitude under a low cloud cover, and then dive onto the target thereby achieving a high probability of penetrating the armor of the target. This invention is not limited to tracker systems that must acquire the target prior to launch such as an infrared imaging seeker, but works equally well with systems that can acquire the target after launch such as laser semiactive systems. The use of conventional known guidance schemes cannot accomplish the high probability of accurate hit concurrent with control of the dive angle for maximum warhead performance. Any ballistic like trajectory for terminally guided missiles must reacquire after descending through the cloud cover adversely affecting the probability of hit and limiting the controllability of the impact attitude.