\begin{tikzpicture}           
% Grid
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% Draw Circle: contact:range
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% Panel
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% Panel
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% Panel
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% Panel
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% Panel
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% Text Label
\draw [color=black] (9.31935,6.2871) node {\scriptsize
$\begin{aligned}
x_{os} &= 0,   & y_{os} &=0,   & \theta_{os} &=90^{\circ},  & v_{os} &= 2.0m/s \\
x_{cn} &= 177, & y_{cn} &=177, & \theta_{cn} &=290^{\circ}, & v_{cn} &= 3.0m/s
\end{aligned}$
};

% Text Label
\draw [color=black] (9.40645,4.63226) node {\scriptsize
$\begin{aligned}
bng^{os}_{cn}  &= 45^{\circ}   & & & relbng^{os}_{cn} = \beta &= 315^{\circ}    \\
bng^{cn}_{os}  &= 225^{\circ}  & & & relbng^{cn}_{os} = \alpha  &= 295^{\circ}  \\
\end{aligned}$
};

% Text Label
\draw [color=black] (8.62258,2.67258) node {\scriptsize
$\begin{aligned}
\theta_{tn}      &= bng^{os}_{cn} + 90 &= 135^{\circ}   \\
\theta^{cn}_{tn} &= \delta(\theta_{cn}, \theta_{tn}) &= 155^{\circ}  \\
\theta^{os}_{tn} &= \delta(\theta_{os}, \theta_{tn}) &= 45^{\circ}
\end{aligned}$
};

% Text Label
\draw [color=black] (9.45,0.8) node {\scriptsize
$\begin{aligned}
v^{os}_{tn} &= cos(\theta^{os}_{tn}) \cdot v_{os} = cos(45)  \cdot 2 & &= 1.414m/s   \\
v^{cn}_{tn} &= cos(\theta^{cn}_{tn}) \cdot v_{cn} = cos(115) \cdot 3 & &= -2.719m/s  \\
\end{aligned}$
};

% Text Label
\draw [color=black] (2.7871,0.8) node {\scriptsize
$\begin{aligned}
\dot{\beta} &= (v^{os}_{tn} + v^{cn}_{tn}) \frac{360}{2r\pi} = -0.345 ^{\circ}/s
\end{aligned}$
};

% Text Label
\draw [color=black] (2.96129,3.84839) node {\scriptsize
ownship
};

% Text Label
\draw [color=black] (3.57097,5.76452) node {\scriptsize
contact
};

% Text Label
\draw [color=black] (5.4,4.89355) node {\scriptsize
$\theta_{tn}$
};

% Text Label
\draw [color=black] (4.35484,4.28387) node {\scriptsize
{$\theta_{os}, v_{os}$}
};

% Text Label
\draw [color=black] (2.96129,6.2) node {\scriptsize
{$\theta_{cn}, v_{cn}$}
};







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% Draw Line: arrows:panel2_3
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% Draw Line: arrows:panel4_5
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% Draw Line: arrows:panel3_4
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% Ship drawing: left side of bow 
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% Ship drawing: stern line 
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% Ship drawing: inside triangle
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% Ship drawing: left side of bow 
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% Ship drawing: stern line 
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% Draw Point: bogus:bogus_right
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% Draw Point: bogus:bogus_right_bottom
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% Draw Point: ownship:ship_ctr_30
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% Draw Point: contact:ship_ctr
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% Draw Line: ownship_contact:range_line
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% Draw Line: ownship:cn_north
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% Draw Line: ownship:os_velocity
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\end{tikzpicture}  
