\begin{tikzpicture}           
% Grid
\draw [rounded corners,menublue,fill=gray99, very thin]
(0,3.5) -- (0,0) -- (12.5,0) -- (12.5,7) -- (0,7) -- (0,3.5);
\draw [color=gray95, thin] (6.25,0) -- (6.25,7);
\draw [color=gray95, thin] (6.78435,0) -- (6.78435,7);
\draw [color=gray95, thin] (7.3187,0) -- (7.3187,7);
\draw [color=gray95, thin] (7.85305,0) -- (7.85305,7);
\draw [color=gray95, thin] (8.3874,0) -- (8.3874,7);
\draw [color=gray95, thin] (8.92176,0) -- (8.92176,7);
\draw [color=gray95, thin] (9.45611,0) -- (9.45611,7);
\draw [color=gray95, thin] (9.99046,0) -- (9.99046,7);
\draw [color=gray95, thin] (10.5248,0) -- (10.5248,7);
\draw [color=gray95, thin] (11.0592,0) -- (11.0592,7);
\draw [color=gray95, thin] (11.5935,0) -- (11.5935,7);
\draw [color=gray95, thin] (12.1279,0) -- (12.1279,7);
\draw [color=gray95, thin] (5.71565,0) -- (5.71565,7);
\draw [color=gray95, thin] (5.1813,0) -- (5.1813,7);
\draw [color=gray95, thin] (4.64695,0) -- (4.64695,7);
\draw [color=gray95, thin] (4.1126,0) -- (4.1126,7);
\draw [color=gray95, thin] (3.57824,0) -- (3.57824,7);
\draw [color=gray95, thin] (3.04389,0) -- (3.04389,7);
\draw [color=gray95, thin] (2.50954,0) -- (2.50954,7);
\draw [color=gray95, thin] (1.97519,0) -- (1.97519,7);
\draw [color=gray95, thin] (1.44084,0) -- (1.44084,7);
\draw [color=gray95, thin] (0.906489,0) -- (0.906489,7);
\draw [color=gray95, thin] (0.372137,0) -- (0.372137,7);
\draw [color=gray95, thin] (0,3.5) -- (12.5,3.5);
\draw [color=gray95, thin] (0,4.03435) -- (12.5,4.03435);
\draw [color=gray95, thin] (0,4.5687) -- (12.5,4.5687);
\draw [color=gray95, thin] (0,5.10305) -- (12.5,5.10305);
\draw [color=gray95, thin] (0,5.6374) -- (12.5,5.6374);
\draw [color=gray95, thin] (0,6.17176) -- (12.5,6.17176);
\draw [color=gray95, thin] (0,6.70611) -- (12.5,6.70611);
\draw [color=gray95, thin] (0,2.96565) -- (12.5,2.96565);
\draw [color=gray95, thin] (0,2.4313) -- (12.5,2.4313);
\draw [color=gray95, thin] (0,1.89695) -- (12.5,1.89695);
\draw [color=gray95, thin] (0,1.3626) -- (12.5,1.3626);
\draw [color=gray95, thin] (0,0.828244) -- (12.5,0.828244);
\draw [color=gray95, thin] (0,0.293893) -- (12.5,0.293893);
% Grid
\draw [rounded corners,menublue, very thin]
(0,3.5) -- (0,0) -- (12.5,0) -- (12.5,7) -- (0,7) -- (0,3.5);

% Draw Circle: contact:range
\draw [color=darkblue, ultra thin] 
(6.62405,3.68702) circle (2.67176cm);
% Text Label
\draw [color=black] (10.792,6.03817) node {\scriptsize
\underline{Range}
};

% Text Label
\draw [color=black] (1.3874,6.03817) node {\scriptsize
\underline{Relative Bearing}
};

% Text Label
\draw [color=black] (11.0057,3.15267) node {\scriptsize
\underline{Range Rate}
};

% Text Label
\draw [color=black] (1.17366,3.15267) node {\scriptsize
\underline{Bearing Rate}
};

% Text Label
\draw [color=black] (1.17366,4.43511) node {\scriptsize
$\alpha(t_{20}) = 90$
};

% Text Label
\draw [color=black] (1.17366,4.96947) node {\scriptsize
$\alpha(t_{10}) = 40$
};

% Text Label
\draw [color=black] (11.3263,1.54962) node {\scriptsize
$\dot{r}(t_{20}) = 0$
};

% Text Label
\draw [color=black] (11.3263,2.61832) node {\scriptsize
$\dot{r}(t_{00}) = -1.2$
};


% Text Label
\draw [color=black] (11.3263,3.90076) node {\scriptsize
$r(t_{30}) = 17.0$
};

% Text Label
\draw [color=black] (11.3263,4.43511) node {\scriptsize
$r(t_{20}) = 11.0$
};

% Text Label
\draw [color=black] (11.3263,4.96947) node {\scriptsize
$r(t_{10}) = 17.0$
};

% Text Label
\draw [color=black] (11.3263,5.50382) node {\scriptsize
$r(t_{00}) = 28.2$
};

% Text Label
\draw [color=black] (1.17366,1.01527) node {\scriptsize
$\dot{\alpha}(t_{30}) = 2.8$
};

% Text Label
\draw [color=black] (1.17366,1.54962) node {\scriptsize
$\dot{\alpha}(t_{20}) = 6.7$
};

% Text Label
\draw [color=black] (1.17366,2.08397) node {\scriptsize
$\dot{\alpha}(t_{10}) = 2.8$
};

% Text Label
\draw [color=black] (1.17366,2.61832) node {\scriptsize
$\dot{\alpha}(t_{00}) = 1.0$
};

% Text Label
\draw [color=black] (1.17366,3.90076) node {\scriptsize
$\alpha(t_{30}) = 140$
};

% Text Label
\draw [color=black] (1.17366,5.50382) node {\scriptsize
$\alpha(t_{00}) = 23$
};

% Text Label
\draw [color=black] (11.3263,1.01527) node {\scriptsize
$\dot{r}(t_{30}) = 1.0$
};

% Text Label
\draw [color=black] (11.3263,2.08397) node {\scriptsize
$\dot{r}(t_{10}) = -1.0$
};

% Draw Line: ownship:cn_ownship_t00
\draw [color=gray75, very thin] 
(6.62405,3.68702) -- (5.44847,0.908397);
% Draw Line: ownship:cn_ownship_t10
\draw [color=gray75, very thin] 
(6.62405,3.68702) -- (5.44847,2.29771);
% Draw Line: ownship:cn_ownship_t20
\draw [color=gray75, very thin] 
(6.62405,3.68702) -- (5.44847,3.68702);
% Draw Line: ownship:cn_ownship_t30
\draw [color=gray75, very thin] 
(6.62405,3.68702) -- (5.44847,5.07634);
% Text Label
\draw [color=black] (5.02099,3.58015) node {\scriptsize
$t_{20}$
};

% Text Label
\draw [color=black] (5.02099,4.96947) node {\scriptsize
$t_{30}$
};

% Text Label
\draw [color=black] (6.30344,0.801527) node {\scriptsize
ownship
};

% Text Label
\draw [color=black] (7.58588,3.90076) node {\scriptsize
contact
};

% Text Label
\draw [color=black] (5.02099,0.801527) node {\scriptsize
$t_{00}$
};

% Text Label
\draw [color=black] (5.02099,2.19084) node {\scriptsize
$t_{10}$
};

% Draw Line: ownship:ownship_trajectory
\draw [color=gray25, dotted, thin] 
(5.44847,5.07634) -- (5.44847,0.908397);
% Ship drawing: inside triangle
\draw [color=gray90, fill=gray90, ultra thin] 
(6.55153,3.41985) -- (6.62405,3.9542) -- (6.69656,3.41985);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(6.55153,3.41985) .. controls (6.49046,3.75382) .. (6.62405,3.9542);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(6.69656,3.41985) .. controls (6.75763,3.75382) .. (6.62405,3.9542);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(6.55153,3.41985) -- (6.69656,3.41985);
% Ship drawing: inside triangle
\draw [color=beige, fill=beige, ultra thin] 
(5.37596,0.641221) -- (5.44847,1.17557) -- (5.52098,0.641221);
% Ship drawing: left side of bow 
\draw [color=black,fill=beige, ultra thin] 
(5.37596,0.641221) .. controls (5.30879,0.975191) .. (5.44847,1.17557);
% Ship drawing: right side of bow 
\draw [color=black,fill=beige, ultra thin] 
(5.52098,0.641221) .. controls (5.58815,0.975191) .. (5.44847,1.17557);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.37596,0.641221) -- (5.52098,0.641221);
% Ship drawing: inside triangle
\draw [color=beige, fill=beige, ultra thin] 
(5.37596,2.03053) -- (5.44847,2.56489) -- (5.52098,2.03053);
% Ship drawing: left side of bow 
\draw [color=black,fill=beige, ultra thin] 
(5.37596,2.03053) .. controls (5.30879,2.3645) .. (5.44847,2.56489);
% Ship drawing: right side of bow 
\draw [color=black,fill=beige, ultra thin] 
(5.52098,2.03053) .. controls (5.58815,2.3645) .. (5.44847,2.56489);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.37596,2.03053) -- (5.52098,2.03053);
% Ship drawing: inside triangle
\draw [color=beige, fill=beige, ultra thin] 
(5.37596,3.41985) -- (5.44847,3.9542) -- (5.52098,3.41985);
% Ship drawing: left side of bow 
\draw [color=black,fill=beige, ultra thin] 
(5.37596,3.41985) .. controls (5.30879,3.75382) .. (5.44847,3.9542);
% Ship drawing: right side of bow 
\draw [color=black,fill=beige, ultra thin] 
(5.52098,3.41985) .. controls (5.58815,3.75382) .. (5.44847,3.9542);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.37596,3.41985) -- (5.52098,3.41985);
% Ship drawing: inside triangle
\draw [color=beige, fill=beige, ultra thin] 
(5.37596,4.80916) -- (5.44847,5.34351) -- (5.52098,4.80916);
% Ship drawing: left side of bow 
\draw [color=black,fill=beige, ultra thin] 
(5.37596,4.80916) .. controls (5.30879,5.14313) .. (5.44847,5.34351);
% Ship drawing: right side of bow 
\draw [color=black,fill=beige, ultra thin] 
(5.52098,4.80916) .. controls (5.58815,5.14313) .. (5.44847,5.34351);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.37596,4.80916) -- (5.52098,4.80916);
% Draw Point: ownship:ship_ctr_20
\draw [color=black,fill=black, thin] 
(5.44847,3.68702) circle (0.02cm);
% Draw Point: contact:ship_ctr
\draw [color=black,fill=black, thin] 
(6.62405,3.68702) circle (0.02cm);
% Draw Point: ownship:ship_ctr_00
\draw [color=black,fill=black, thin] 
(5.44847,0.908397) circle (0.02cm);
% Draw Point: ownship:ship_ctr_10
\draw [color=black,fill=black, thin] 
(5.44847,2.29771) circle (0.02cm);
% Draw Point: ownship:ship_ctr_30
\draw [color=black,fill=black, thin] 
(5.44847,5.07634) circle (0.02cm);
% Draw Line: ownship:os_velocity
\draw [color=gray25, <-, thin] 
(5.44847,6.35878) -- (5.44847,5.29008);
% Draw Line: ownship:cn_south
\draw [color=gray25, dotted, thin] 
(6.62405,3.68702) -- (6.62405,1.01527);
% Draw Line: ownship:cn_north
\draw [color=gray25, ->, thin] 
(6.62405,3.68702) -- (6.62405,4.22137);
\end{tikzpicture}  
