grid = key=master,group=grid,depth=1,widthcm=12.5,heightcm=7,gcell=5, \
       xmarg=6,ymarg=6,shrink=false,rounded=true,                     \
       border_thickness=very thin,border_color=menublue,              \
       gback_color=gray99,gline_thickness=thin,gline_color=gray95
 
circle = key=range,group=contact,depth=2,x=-9,y=13,radius=25,       \
         line_color=darkblue,fill_color=invisible,line_style=solid, \
         line_thickness=ultra thin
 
label = key=range_rate_header,group=range_rate,depth=88, \
        label=\underline{Range Rate},label_color=black,  \
        label_size=scriptsize,x=32,y=8
 
label = key=bearing_rate_header,group=range,depth=88,     \
        label=\underline{Bearing Rate},label_color=black, \
        label_size=scriptsize,x=-60,y=8
 
label = key=range_header,group=range,depth=88,label=\underline{Range}, \
        label_color=black,label_size=scriptsize,x=30,y=35
 
label = key=relbng_header,group=rel_bng,depth=88,             \
        label=\underline{Relative Bearing},label_color=black, \
        label_size=scriptsize,x=-58,y=35
 
label = key=range_rate_t30,group=range_rate,depth=100,   \
        label=$\dot{r}(t_{30}) = 1.0$,label_color=black, \
        label_size=scriptsize,x=35,y=-12
 
label = key=range_rate_t10,group=range_rate,depth=100,    \
        label=$\dot{r}(t_{10}) = -1.0$,label_color=black, \
        label_size=scriptsize,x=35,y=-2
 
label = key=relbng_t00,group=rel_bng,depth=100,        \
        label=$\alpha(t_{00}) = 23$,label_color=black, \
        label_size=scriptsize,x=-60,y=30
 
label = key=relbng_t30,group=rel_bng,depth=100,         \
        label=$\alpha(t_{30}) = 140$,label_color=black, \
        label_size=scriptsize,x=-60,y=15
 
swarmpath = key=,group=,depth=100,begtime=0,endtime=0,nowtime=0
 
label = key=bng_rate_t00,group=bearing_rate,depth=100,        \
        label=$\dot{\alpha}(t_{00}) = 1.0$,label_color=black, \
        label_size=scriptsize,x=-60,y=3
 
label = key=bng_rate_t10,group=bearing_rate,depth=100,        \
        label=$\dot{\alpha}(t_{10}) = 2.8$,label_color=black, \
        label_size=scriptsize,x=-60,y=-2
 
label = key=bng_rate_t20,group=bearing_rate,depth=100,        \
        label=$\dot{\alpha}(t_{20}) = 6.7$,label_color=black, \
        label_size=scriptsize,x=-60,y=-7
 
label = key=bng_rate_t30,group=bearing_rate,depth=100,        \
        label=$\dot{\alpha}(t_{30}) = 2.8$,label_color=black, \
        label_size=scriptsize,x=-60,y=-12
 
label = key=range_t00,group=range,depth=100,label=$r(t_{00}) = 28.2$, \
        label_color=black,label_size=scriptsize,x=35,y=30
 
label = key=range_t10,group=range,depth=100,label=$r(t_{10}) = 17.0$, \
        label_color=black,label_size=scriptsize,x=35,y=25
 
label = key=range_t20,group=range,depth=100,label=$r(t_{20}) = 11.0$, \
        label_color=black,label_size=scriptsize,x=35,y=20
 
label = key=range_t30,group=range,depth=100,label=$r(t_{30}) = 17.0$, \
        label_color=black,label_size=scriptsize,x=35,y=15
 
label = key=range_rate_t00,group=range_rate,depth=100,    \
        label=$\dot{r}(t_{00}) = -1.2$,label_color=black, \
        label_size=scriptsize,x=35,y=3
 
label = key=range_rate_t20,group=range_rate,depth=100, \
        label=$\dot{r}(t_{20}) = 0$,label_color=black, \
        label_size=scriptsize,x=35,y=-7
 
label = key=relbng_t10,group=rel_bng,depth=100,        \
        label=$\alpha(t_{10}) = 40$,label_color=black, \
        label_size=scriptsize,x=-60,y=25
 
label = key=relbng_t20,group=rel_bng,depth=100,        \
        label=$\alpha(t_{20}) = 90$,label_color=black, \
        label_size=scriptsize,x=-60,y=20
 
line = key=cn_ownship_t00,group=ownship,depth=120,x1=-9,y1=13,x2=-20, \
       y2=-13,line_color=gray75,line_style=solid,                     \
       line_thickness=very thin
 
line = key=cn_ownship_t10,group=ownship,depth=120,x1=-9,y1=13,x2=-20, \
       y2=0,line_color=gray75,line_style=solid,                       \
       line_thickness=very thin
 
line = key=cn_ownship_t20,group=ownship,depth=120,x1=-9,y1=13,x2=-20, \
       y2=13,line_color=gray75,line_style=solid,                      \
       line_thickness=very thin
 
line = key=cn_ownship_t30,group=ownship,depth=120,x1=-9,y1=13,x2=-20, \
       y2=26,line_color=gray75,line_style=solid,                      \
       line_thickness=very thin
 
label = key=t_03_left,group=measures,depth=205,label=$t_{30}$, \
        label_color=black,label_size=scriptsize,x=-24,y=25
 
label = key=ship_label,group=ownship,depth=205,label=ownship, \
        label_color=black,label_size=scriptsize,x=-12,y=-14
 
label = key=ship_label,group=contact,depth=205,label=contact, \
        label_color=black,label_size=scriptsize,x=0,y=15
 
label = key=t_00_left,group=measures,depth=205,label=$t_{00}$, \
        label_color=black,label_size=scriptsize,x=-24,y=-14
 
label = key=t_01_left,group=measures,depth=205,label=$t_{10}$, \
        label_color=black,label_size=scriptsize,x=-24,y=-1
 
label = key=t_02_left,group=measures,depth=205,label=$t_{20}$, \
        label_color=black,label_size=scriptsize,x=-24,y=12
 
line = key=ownship_trajectory,group=ownship,depth=320,x1=-20,y1=26, \
       x2=-20,y2=-13,line_color=gray25,line_style=dotted,           \
       line_thickness=thin
 
vessel = key=mainship,group=contact,depth=800,x=-9,y=13,hdg=0,     \
         body_type=kayak,length=5,wid_mbody=2.5,wid_stern=1.357,   \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin, \
         fill_color=gray90
 
vessel = key=ownship_30,group=ownship,depth=900,x=-20,y=26,hdg=0,  \
         body_type=kayak,length=5,wid_mbody=2.614,wid_stern=1.357, \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin, \
         fill_color=beige
 
vessel = key=ownship_20,group=ownship,depth=900,x=-20,y=13,hdg=0,  \
         body_type=kayak,length=5,wid_mbody=2.614,wid_stern=1.357, \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin, \
         fill_color=beige
 
vessel = key=ownship_10,group=ownship,depth=900,x=-20,y=0,hdg=0,   \
         body_type=kayak,length=5,wid_mbody=2.614,wid_stern=1.357, \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin, \
         fill_color=beige
 
vessel = key=ownship_00,group=ownship,depth=900,x=-20,y=-13,hdg=0, \
         body_type=kayak,length=5,wid_mbody=2.614,wid_stern=1.357, \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin, \
         fill_color=beige
 
point = key=ship_ctr_30,group=ownship,depth=904,x=-20,y=26, \
        point_size=0.02,point_color=black
 
point = key=ship_ctr_10,group=ownship,depth=904,x=-20,y=0, \
        point_size=0.02,point_color=black
 
point = key=ship_ctr_00,group=ownship,depth=904,x=-20,y=-13, \
        point_size=0.02,point_color=black
 
point = key=ship_ctr,group=contact,depth=904,x=-9,y=13,point_size=0.02, \
        point_color=black
 
point = key=ship_ctr_20,group=ownship,depth=904,x=-20,y=13, \
        point_size=0.02,point_color=black
 
line = key=cn_north,group=ownship,depth=920,x1=-9,y1=13,x2=-9,y2=18, \
       line_color=gray25,line_style=solid,line_thickness=thin,       \
       endtype2=arrow
 
line = key=cn_south,group=ownship,depth=920,x1=-9,y1=13,x2=-9,y2=-12, \
       line_color=gray25,line_style=dotted,line_thickness=thin
 
line = key=os_velocity,group=ownship,depth=920,x1=-20,y1=38,x2=-20,  \
       y2=28,line_color=gray25,line_style=solid,line_thickness=thin, \
       endtype1=arrow