\begin{tikzpicture}           
% Grid
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% Grid
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% Draw Circle: contact:range
\draw [color=darkblue, ultra thin] 
(2.63605,4.13776) circle (2.12585cm);
% 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] (8.92857,6.09354) node {\scriptsize
$\begin{aligned}
x_{os} &= 0,   & y_{os} &=0,   & \theta_{os} &=90,  & v_{os} &= 2.0 \\
x_{cn} &= 177, & y_{cn} &=177, & \theta_{cn} &=290, & v_{cn} &= 3.0
\end{aligned}$
};

% Text Label
\draw [color=black] (8.84354,4.47789) node {\scriptsize
$\begin{aligned}
range    &= 250       \\
bng^{cn}_{os}  &= 225  & & & relbng^{cn}_{os} = \beta  &= 295  \\
bng^{os}_{cn}  &= 45   & & & relbng^{os}_{cn} = \alpha &= 315  \\
\end{aligned}$
};

% Text Label
\draw [color=black] (8.2483,2.60714) node {\scriptsize
$\begin{aligned}
\theta_{tn}      &= bng^{os}_{cn} + 90 &= 135   \\
\theta^{cn}_{tn} &= \delta(\theta_{cn}, \theta_{tn}) &= 155  \\
\theta^{os}_{tn} &= \delta(\theta_{os}, \theta_{tn}) &= 45
\end{aligned}$
};

% Text Label
\draw [color=black] (8.84354,0.736395) node {\scriptsize
$\begin{aligned}
v^{os}_{tn} &= cos(\theta^{os}_{tn}) \cdot v_{os} = cos(45)  \cdot 2 & &= 1.414   \\
v^{cn}_{tn} &= cos(\theta^{cn}_{tn}) \cdot v_{cn} = cos(115) \cdot 3 & &= -2.719  \\
\end{aligned}$
};

% Text Label
\draw [color=black] (2.80612,0.736395) node {\scriptsize
$\begin{aligned}
\dot{\alpha} &= (v^{os}_{tn} + v^{cn}_{tn}) \frac{360}{2r\pi} = -0.345
\end{aligned}$
};

% Text Label
\draw [color=black] (2.63605,3.71259) node {\scriptsize
ownship
};

% Text Label
\draw [color=black] (3.23129,5.58333) node {\scriptsize
contact
};

% Text Label
\draw [color=black] (5.01701,4.73299) node {\scriptsize
$\theta_{tn}$
};

% Text Label
\draw [color=black] (3.9966,4.13776) node {\scriptsize
{$\theta_{os}, v_{os}$}
};

% Text Label
\draw [color=black] (2.63605,6.0085) node {\scriptsize
{$\theta_{cn}, v_{cn}$}
};







% Draw Line: arrows:panel1_2
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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: inside triangle
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% Ship drawing: left side of bow 
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% Ship drawing: right side of bow 
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% Ship drawing: stern line 
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(2.42347,4.19549) -- (2.42347,4.08002);
% Ship drawing: inside triangle
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% Ship drawing: left side of bow 
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% Ship drawing: right side of bow 
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% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(4.31947,5.51419) -- (4.35897,5.6227);
% Draw Point: bogus:bogus_right
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(11.9898,4.13776) circle (0.001cm);
% Draw Point: bogus:bogus_right_bottom
\draw [color=white,fill=white, thin] 
(10.2891,0.736395) circle (0.001cm);
% Draw Point: ownship:ship_ctr_30
\draw [color=black,fill=black, thin] 
(4.1392,5.6409) circle (0.02cm);
% Draw Point: contact:ship_ctr
\draw [color=black,fill=black, thin] 
(2.63605,4.13776) circle (0.02cm);
% Draw Line: ownship:tangent_line
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(4.13946,5.6409) -- (4.86097,4.91939);
% Draw Line: ownship_contact:range_line
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% Draw Line: ownship:cn_north
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(2.63605,4.13776) -- (3.48639,4.13776);
% Draw Line: ownship:os_velocity
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(4.13946,5.6409) -- (3.18061,5.98988);
\end{tikzpicture}  
