grid = key=master,group=grid,depth=1,widthcm=13.5,heightcm=7,gcell=10, \
xmarg=1,ymarg=1,shrink=false,rounded=true, \
border_thickness=very thin,border_color=menublue, \
gback_color=gray99,gline_thickness=thin,gline_color=gray96
circle = key=range,group=contact,depth=2,x=0,y=0,radius=25, \
line_color=darkblue,fill_color=invisible,line_style=solid, \
line_thickness=ultra thin
panel = key=panel1,group=panel_1,depth=11,x=30,y=17,widthcm=7.5, \
heightcm=1,rounded=true,border_thickness=thin, \
border_color=gray40,panel_color=beige
panel = key=panel2_range_bng,group=panel_2,depth=12,x=40,y=-4.5, \
widthcm=5.8,heightcm=1.4,rounded=true,border_thickness=thin, \
border_color=gray35,panel_color=beige
panel = key=panel3_bng_rate,group=panel_3,depth=13,x=40,y=-28, \
widthcm=4.2,heightcm=1.6,rounded=true,border_thickness=thin, \
border_color=gray35,panel_color=beige
panel = key=panel4_bng_rate,group=panel_4,depth=14,x=34,y=-46, \
widthcm=7.1,heightcm=1,rounded=true,border_thickness=thin, \
border_color=gray40,panel_color=beige
panel = key=panel5_bng_rate,group=panel_5,depth=15,x=-32,y=-46, \
widthcm=4.8,heightcm=1,rounded=true,border_thickness=thin, \
border_color=gray40,panel_color=beige
label = key=macro1,group=panel_1,depth=81,label=macro:macro1_init_pos, \
label_color=black,label_size=scriptsize,x=73,y=23
label = key=macro2,group=panel_2,depth=82,label=macro:macro2_range_bng, \
label_color=black,label_size=scriptsize,x=74,y=4
label = key=macro3,group=panel_3,depth=83,label=macro:macro3_bng_rate, \
label_color=black,label_size=scriptsize,x=65,y=-18.5
label = key=macro4,group=panel_4,depth=84,label=macro:macro4_bng_rate, \
label_color=black,label_size=scriptsize,x=74.5,y=-40
label = key=macro5,group=panel_5,depth=85,label=macro:macro5_bng_rate, \
label_color=black,label_size=scriptsize,x=-2,y=-40
label = key=ownship_label,group=ownship,depth=100,label=ownship, \
label_color=black,label_size=scriptsize,x=0,y=-5
label = key=contact_label,group=contact,depth=100,label=contact, \
label_color=black,label_size=scriptsize,x=7,y=17
label = key=tangent_theta,group=contact,depth=100,label=$\theta_{tn}$, \
label_color=black,label_size=scriptsize,x=28,y=7
label = key=theta_ownship,group=ownship,depth=100, \
label={$\theta_{os}, v_{os}$},label_color=black, \
label_size=scriptsize,x=16,y=0
label = key=theta_contact,group=contact,depth=100, \
label={$\theta_{cn}, v_{cn}$},label_color=black, \
label_size=scriptsize,x=0,y=22
frame = key=framekey,group=frame,depth=100,xl=-33,xh=120,yl=-48,yh=30
swarmpath = key=,group=,depth=100,begtime=0,endtime=0,nowtime=0
\begin{macro}[macro1_init_pos][macros]
$\begin{aligned}
x_{os} &= 0, & y_{os} &=0, & \theta_{os} &=90^{\circ}, & v_{os} &= 2.0m/s \\
x_{cn} &= 177, & y_{cn} &=177, & \theta_{cn} &=290^{\circ}, & v_{cn} &= 3.0m/s
\end{aligned}$
\end{macro}
\begin{macro}[macro2_range_bng][macros]
$\begin{aligned}
bng^{os}_{cn} &= 45^{\circ} & & & relbng^{os}_{cn} = \beta &= 315^{\circ} \\
bng^{cn}_{os} &= 225^{\circ} & & & relbng^{cn}_{os} = \alpha &= 295^{\circ} \\
\end{aligned}$
\end{macro}
\begin{macro}[macro3_bng_rate][macros]
$\begin{aligned}
\theta_{tn} &= bng^{os}_{cn} + 90 &= 135^{\circ} \\
\theta^{cn}_{tn} &= \delta(\theta_{cn}, \theta_{tn}) &= 155^{\circ} \\
\theta^{os}_{tn} &= \delta(\theta_{os}, \theta_{tn}) &= 45^{\circ}
\end{aligned}$
\end{macro}
\begin{macro}[macro4_bng_rate][macros]
$\begin{aligned}
v^{os}_{tn} &= cos(\theta^{os}_{tn}) \cdot v_{os} = cos(45) \cdot 2 & &= 1.414m/s \\
v^{cn}_{tn} &= cos(\theta^{cn}_{tn}) \cdot v_{cn} = cos(115) \cdot 3 & &= -2.719m/s \\
\end{aligned}$
\end{macro}
\begin{macro}[macro5_bng_rate][macros]
$\begin{aligned}
\dot{\beta} &= (v^{os}_{tn} + v^{cn}_{tn}) \frac{360}{2r\pi} = -0.345 ^{\circ}/s
\end{aligned}$
\end{macro}
line = key=panel1_2,group=arrows,depth=101,x1=65,y1=17,x2=65,y2=12, \
line_color=black,line_style=solid,line_thickness=thick, \
endtype2=arrow
line = key=panel2_3,group=arrows,depth=102,x1=65,y1=-4.5,x2=65,y2=-9, \
line_color=black,line_style=solid,line_thickness=thick, \
endtype2=arrow
line = key=panel3_4,group=arrows,depth=103,x1=65,y1=-28,x2=65,y2=-34, \
line_color=black,line_style=solid,line_thickness=thick, \
endtype2=arrow
line = key=panel4_5,group=arrows,depth=103,x1=34,y1=-40,x2=26,y2=-40, \
line_color=black,line_style=solid,line_thickness=thick, \
endtype2=arrow
vessel = key=ownship,group=contact,depth=800,x=0,y=0,hdg=90, \
body_type=kayak,length=5,wid_mbody=2.614,wid_stern=1.358, \
pct_mbody=0.5,line_color=black,line_thickness=ultra thin, \
fill_color=gray90
vessel = key=contact,group=contact,depth=900,x=17.68,y=17.68,hdg=290, \
body_type=kayak,length=5,wid_mbody=2.614,wid_stern=1.358, \
pct_mbody=0.5,line_color=black,line_thickness=ultra thin, \
fill_color=beige
point = key=bogus_right,group=bogus,depth=904,x=110,y=0, \
point_size=0.001,point_color=white
point = key=bogus_right_bottom,group=bogus,depth=904,x=90,y=-40, \
point_size=0.001,point_color=white
point = key=ship_ctr_30,group=ownship,depth=904,x=17.677,y=17.677, \
point_size=0.02,point_color=black
point = key=ship_ctr,group=contact,depth=904,x=0,y=0,point_size=0.02, \
point_color=black
line = key=tangent_line,group=ownship,depth=920,x1=17.68,y1=17.677, \
x2=26.165,y2=9.192,line_color=gray50,line_style=dashed, \
line_thickness=thin,endtype2=arrow
line = key=range_line,group=ownship_contact,depth=920,x1=0,y1=0, \
x2=17.678,y2=17.678,line_color=gray25,line_style=dotted, \
line_thickness=thin
line = key=cn_north,group=ownship,depth=920,x1=0,y1=0,x2=10,y2=0, \
line_color=gray25,line_style=solid,line_thickness=thin, \
endtype2=arrow
line = key=os_velocity,group=ownship,depth=920,x1=17.68,y1=17.677, \
x2=6.404,y2=21.781,line_color=gray25,line_style=solid, \
line_thickness=thin,endtype2=arrow