\begin{tikzpicture}           
% Grid
\draw [rounded corners,menublue,fill=gray99, very thin]
(0,5.5) -- (0,0) -- (15,0) -- (15,11) -- (0,11) -- (0,5.5);
\draw [color=gray96, thin] (7.5,0) -- (7.5,11);
\draw [color=gray96, thin] (8.5,0) -- (8.5,11);
\draw [color=gray96, thin] (9.5,0) -- (9.5,11);
\draw [color=gray96, thin] (10.5,0) -- (10.5,11);
\draw [color=gray96, thin] (11.5,0) -- (11.5,11);
\draw [color=gray96, thin] (12.5,0) -- (12.5,11);
\draw [color=gray96, thin] (13.5,0) -- (13.5,11);
\draw [color=gray96, thin] (14.5,0) -- (14.5,11);
\draw [color=gray96, thin] (6.5,0) -- (6.5,11);
\draw [color=gray96, thin] (5.5,0) -- (5.5,11);
\draw [color=gray96, thin] (4.5,0) -- (4.5,11);
\draw [color=gray96, thin] (3.5,0) -- (3.5,11);
\draw [color=gray96, thin] (2.5,0) -- (2.5,11);
\draw [color=gray96, thin] (1.5,0) -- (1.5,11);
\draw [color=gray96, thin] (0.5,0) -- (0.5,11);
\draw [color=gray96, thin] (0,5.5) -- (15,5.5);
\draw [color=gray96, thin] (0,6.5) -- (15,6.5);
\draw [color=gray96, thin] (0,7.5) -- (15,7.5);
\draw [color=gray96, thin] (0,8.5) -- (15,8.5);
\draw [color=gray96, thin] (0,9.5) -- (15,9.5);
\draw [color=gray96, thin] (0,10.5) -- (15,10.5);
\draw [color=gray96, thin] (0,4.5) -- (15,4.5);
\draw [color=gray96, thin] (0,3.5) -- (15,3.5);
\draw [color=gray96, thin] (0,2.5) -- (15,2.5);
\draw [color=gray96, thin] (0,1.5) -- (15,1.5);
\draw [color=gray96, thin] (0,0.5) -- (15,0.5);
% Grid
\draw [rounded corners,menublue, very thin]
(0,5.5) -- (0,0) -- (15,0) -- (15,11) -- (0,11) -- (0,5.5);

% Draw Circle: contact:range
\draw [color=darkblue, ultra thin] 
(4.5178,4.9) circle (2.5cm);
% Panel
\draw [rounded corners,gray40,fill=beige, thin]
(5.9478,10.3) -- (5.9478,9.8) -- (13.8478,9.8) -- (13.8478,10.8) -- (5.9478,10.8) -- (5.9478,10.3);

% Panel
\draw [rounded corners,gray35,fill=beige, thin]
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% Panel
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(9.0178,5.08) -- (9.0178,3.83) -- (13.8178,3.83) -- (13.8178,6.33) -- (9.0178,6.33) -- (9.0178,5.08);

% Panel
\draw [rounded corners,gray35,fill=beige, thin]
(7.5178,1.9) -- (7.5178,0.4) -- (13.8178,0.4) -- (13.8178,3.4) -- (7.5178,3.4) -- (7.5178,1.9);

% Panel
\draw [rounded corners,gray35,fill=beige, thin]
(1.4178,1.15) -- (1.4178,0.4) -- (6.7178,0.4) -- (6.7178,1.9) -- (1.4178,1.9) -- (1.4178,1.15);

% Text Label
\draw [color=black] (9.8478,10.3) node {\scriptsize
$\begin{aligned}
x_{os} &= 0,   & y_{os} &=0,      & \theta_{os} &=340^{\circ}, & v_{os} &= 8m/s \\
x_{cn} &= 43.4, & y_{cn} &=246.2, & \theta_{cn} &=315^{\circ}, & v_{cn} &= 1.5m/s
\end{aligned}$
};

% Text Label
\draw [color=black] (11.5178,8.1) node {\scriptsize
$\begin{aligned}
\theta^{os}_{\epsilon} &= \theta_{cn} = 315^{\circ}   \\
\theta^{os}_{\gamma} &= [\theta_{cn} + 90]^{^{360}} = 45^{\circ}   \\
v^{os}_{\gamma}      &= cos(\theta^{os}_{\gamma} - \theta_{os}) \cdot v_{os} \\
&= cos(65) \cdot 8 = 3.38 m/s \\
bng^{os}_{cn} &= 10^{\circ}
\end{aligned}$
};

% Text Label
\draw [color=black] (11.5178,5.08) node {\scriptsize
$\begin{aligned}
r &= 250m \\
r_{\gamma} &= cos(\theta^{os}_{\gamma} - bng^{os}_{cn}) \cdot r \\
&= cos(35) \cdot 250 = 204.788m                                 \\
r_{\epsilon} &= cos(\theta^{os}_{\epsilon} - bng^{os}_{cn}) \cdot r \\
&= cos(315) \cdot 250 = 143.394m
\end{aligned}$
};

% Text Label
\draw [color=black] (10.7178,1.9) node {\scriptsize
$\begin{aligned}
v^{os}_{cnh} &= cos(\theta_{os}-\theta_{cn}) \cdot v_{os} \\
&= cos(25) \cdot 8 = 7.25m/s \\
t^{os}_{\gamma}    &= \frac{r_{\gamma}}{v^{os}_{\gamma}} = \tfrac{204.788}{3.38} = 60.588s  \\
r^{xcn}_{\epsilon} &= t^{os}_{\gamma} \cdot v_{cn} = 60.588 \cdot 1.5 = 90.882m \\
r^{xos}_{\epsilon} &= t^{os}_{\gamma} \cdot v^{os}_{cnh} = 60.588 \cdot 7.25 = 439.263m \\
\end{aligned}$
};

% Text Label
\draw [color=black] (4.1178,1.15) node {\scriptsize
$\begin{aligned}
r^{os}_{xcnb} &= r^{xos}_{\epsilon} - (r_{\epsilon} + r^{xcn}_{\epsilon}) \\
&= 439.263 + (143.394 + 90.882)          \\
&= 204.987m                              \\
\end{aligned}$
};

% Draw Line: gamma:range_xos_eps
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(4.5178,4.9) -- (1.4065,8.0113);
% Draw Line: gamma:range_os_xcnb
\draw [color=gray50, |-|, very thin] 
(3.6629,9.0349) -- (3.1538,9.544);





% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(4.53518,4.69349) -- (4.4494,5.08794) -- (4.63723,4.73063);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(4.53518,4.69349) .. controls (4.40673,4.91278) .. (4.4494,5.08794);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(4.63723,4.73063) .. controls (4.59467,4.98119) .. (4.4494,5.08794);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(4.53518,4.69349) -- (4.63723,4.73063);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(2.90518,9.14349) -- (2.8194,9.53794) -- (3.00723,9.18063);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(2.90518,9.14349) .. controls (2.77673,9.36278) .. (2.8194,9.53794);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(3.00723,9.18063) .. controls (2.96467,9.43119) .. (2.8194,9.53794);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(2.90518,9.14349) -- (3.00723,9.18063);
% Text Label
\draw [color=black] (1.2178,8.6) node {\scriptsize
$\theta^{os}_{\epsilon}$
};

% Text Label
\draw [color=black] (6.9178,7.1) node {\scriptsize
$\theta^{os}_{\gamma}$
};

% Text Label
\draw [color=black] (5.6178,5.1) node {\scriptsize
$r_{\gamma}$
};

% Text Label
\draw [color=black] (2.5178,7.4) node {\scriptsize
{$r^{xos}_{\epsilon}$}
};

% Text Label
\draw [color=black] (4.8178,8.4) node {\scriptsize
$r^{xcn}_{\epsilon}$
};

% Text Label
\draw [color=black] (4.3178,7.1) node {\tiny
contact
};

% Text Label
\draw [color=black] (3.7178,9.7) node {\scriptsize
$r^{os}_{xcnb}$
};


% Text Label
\draw [color=black] (5.8178,7.3) node {\scriptsize
$r_{\epsilon}$
};

% Text Label
\draw [color=black] (3.4178,5.4) node {\scriptsize
{$\theta_{os}, v_{os}$}
};

% Draw Line: gamma:range_xos_eps_copy
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(1.4065,8.0113) -- (0.9822,8.4356);
% Draw Line: gamma:range_eps
\draw [color=gray50, |-|, very thin] 
(5.1478,7.55) -- (6.1625,6.5353);
% Draw Line: gamma:range_gamma
\draw [color=gray50, |-|, very thin] 
(4.7178,4.7) -- (6.1674,6.1496);
% Draw Line: gamma:range_xcn_eps
\draw [color=gray50, |-|, very thin] 
(5.1478,7.55) -- (3.6629,9.0349);
% Text Label
\draw [color=black] (4.1178,7.9) node {\scriptsize
{$\theta_{cn}, v_{cn}$}
};

% Text Label
\draw [color=black] (3.5178,4.9) node {\tiny
ownship
};

% Draw Line: panel_1:panel1_2
\draw [color=black, ->, thick] 
(10.7478,9.8) -- (10.7478,9.4);
% Draw Line: panel_2:panel2_3
\draw [color=black, ->, thick] 
(11.0178,6.76) -- (11.0178,6.36);
% Draw Line: panel_3:panel3_4
\draw [color=black, ->, thick] 
(11.0178,3.84) -- (11.0178,3.44);
% Draw Line: panel_4:panel4_5
\draw [color=black, ->, thick] 
(7.5178,1.3) -- (6.7378,1.3);
% Ship drawing: inside triangle
\draw [color=beige, fill=beige, ultra thin] 
(5.05483,7.18218) -- (4.81038,7.50342) -- (5.13162,7.25897);
% Ship drawing: left side of bow 
\draw [color=black,fill=beige, ultra thin] 
(5.05483,7.18218) .. controls (4.84573,7.32664) .. (4.81038,7.50342);
% Ship drawing: right side of bow 
\draw [color=black,fill=beige, ultra thin] 
(5.13162,7.25897) .. controls (4.98716,7.46807) .. (4.81038,7.50342);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.05483,7.18218) -- (5.13162,7.25897);
% Ship drawing: inside triangle
\draw [color=beige, fill=beige, ultra thin] 
(3.50796,8.64267) -- (3.29406,8.92374) -- (3.57513,8.70984);
% Ship drawing: left side of bow 
\draw [color=black,fill=beige, ultra thin] 
(3.50796,8.64267) .. controls (3.32499,8.76906) .. (3.29406,8.92374);
% Ship drawing: right side of bow 
\draw [color=black,fill=beige, ultra thin] 
(3.57513,8.70984) .. controls (3.44874,8.89281) .. (3.29406,8.92374);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(3.50796,8.64267) -- (3.57513,8.70984);
% Draw Point: bogus:bogus_right_bottom
\draw [color=white,fill=white, thin] 
(13.5178,0.5) circle (0.001cm);
% Draw Point: ownship:ship_ctr_contact_atcross
\draw [color=black,fill=black, thin] 
(3.4178,8.8) circle (0.02cm);
% Draw Point: contact:ship_ctr_contact
\draw [color=black,fill=black, thin] 
(4.9518,7.362) circle (0.02cm);
% Draw Point: bogus:bogus_right
\draw [color=white,fill=white, thin] 
(14.0178,4.9) circle (0.001cm);
% Draw Point: ownship:ship_ctr_ownship
\draw [color=black,fill=black, thin] 
(4.5178,4.9) circle (0.02cm);
% Draw Point: ownship:ship_ctr_ownship_atcross_copy
\draw [color=black,fill=black, thin] 
(2.8878,9.35) circle (0.02cm);
% Draw Point: ownship:ship_ctr_ownship_atcross
\draw [color=black,fill=black, thin] 
(2.8878,9.35) circle (0.02cm);
% Draw Line: ownship:ownship_heading_to_intersect
\draw [color=gray55, ->, thin] 
(4.5178,4.9) -- (2.4658,10.5382);
% Draw Line: contact:contact_heading_to_intercept
\draw [color=gray55, ->, thin] 
(4.0518,8.162) -- (2.284,9.9298);
% Draw Line: ownship:ownship_heading
\draw [color=gray10, ->, semithick] 
(4.5178,4.9) -- (4.1758,5.8397);
% Draw Line: ownship_contact:theta_gamma
\draw [color=gray60, ->, thin] 
(4.5178,4.9) -- (6.6391,7.0213);
% Draw Line: contact:contact_heading
\draw [color=gray10, ->, semithick] 
(4.9518,7.362) -- (4.5982,7.7156);
% Draw Line: contact:contact_trail
\draw [color=gray50, dotted, thin] 
(4.9518,7.3658) -- (6.5074,5.8102);
% Draw Line: ownship_contact:range
\draw [color=gray25, dotted, thin] 
(4.5178,4.9) -- (4.9519,7.362);
\end{tikzpicture}  
