grid = key=master,group=grid,depth=1,widthcm=12.5,heightcm=7,gcell=10, \
       xmarg=6,ymarg=6,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_initial_pose,group=initial_pose,depth=11,x=34,y=17, \
        widthcm=6.75,heightcm=1,rounded=true,border_thickness=thin,    \
        border_color=gray40,panel_color=beige
 
panel = key=panel2_range_bng,group=range_bng,depth=12,x=40,y=-4.5,   \
        widthcm=5.3,heightcm=1.4,rounded=true,border_thickness=thin, \
        border_color=gray35,panel_color=beige
 
label = key=ownship_and_contact,group=initial_pose,depth=81, \
        label=macro:macro1_init_pos,label_color=black,       \
        label_size=scriptsize,x=74,y=23
 
label = key=range_bearings,group=range_bng,depth=82,    \
        label=macro:macro2_range_bng,label_color=black, \
        label_size=scriptsize,x=73,y=4
 
swarmpath = key=,group=,depth=100,begtime=0,endtime=0,nowtime=0
 
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=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
 
\begin{macro}[macro1_init_pos][macros]
$\begin{aligned}
x_{os} &= 0,   & y_{os} &=0,   & \theta_{os} &=90,  & v_{os} &= 2.0 \\
x_{cn} &= 177, & y_{cn} &=177, & \theta_{cn} &=290, & v_{cn} &= 3.0
\end{aligned}$
\end{macro}

 
\begin{macro}[macro2_range_bng][macros]
$\begin{aligned}
range    &= 250       \\
bng^{os}_{cn}  &= 45   & & & relbng^{os}_{cn} = \beta &= 315  \\
bng^{cn}_{os}  &= 225  & & & relbng^{cn}_{os} = \alpha  &= 295  \\
\end{aligned}$
\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
 
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=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