grid = key=master,group=grid,depth=1,widthcm=15,heightcm=11,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_initial_pose,group=panel_1,depth=11,x=14.3,y=49, \
        widthcm=7.9,heightcm=1,rounded=true,border_thickness=thin,  \
        border_color=gray40,panel_color=beige
 
panel = key=panel2_theta_gam,group=panel_2,depth=12,x=45,y=18.6,      \
        widthcm=4.8,heightcm=2.64,rounded=true,border_thickness=thin, \
        border_color=gray35,panel_color=beige
 
panel = key=panel3_gamma_ranges,group=panel_3,depth=13,x=45,y=-10.7, \
        widthcm=4.8,heightcm=2.5,rounded=true,border_thickness=thin, \
        border_color=gray35,panel_color=beige
 
panel = key=panel4_timedist,group=panel_4,depth=14,x=30,y=-45,     \
        widthcm=6.3,heightcm=3,rounded=true,border_thickness=thin, \
        border_color=gray35,panel_color=beige
 
panel = key=panel5_final_result,group=panel_5,depth=15,x=-31,y=-45,  \
        widthcm=5.3,heightcm=1.5,rounded=true,border_thickness=thin, \
        border_color=gray35,panel_color=beige
 
label = key=macro1,group=panel_1,depth=81,label=macro:macro1_init_pos, \
        label_color=black,label_size=scriptsize,x=53.3,y=54
 
label = key=macro2,group=panel_2,depth=82,label=macro:macro2_range_bng, \
        label_color=black,label_size=scriptsize,x=70,y=32
 
label = key=macro3,group=panel_3,depth=83,                 \
        label=macro:macro3_gamma_ranges,label_color=black, \
        label_size=scriptsize,x=70,y=1.8
 
label = key=panel4,group=panel_4,depth=84,label=macro:macro4_timedist, \
        label_color=black,label_size=scriptsize,x=62,y=-30
 
label = key=macro5,group=panel_5,depth=85,label=macro:macro5_result, \
        label_color=black,label_size=scriptsize,x=-4,y=-37.5
 
line = key=range_xcn_eps,group=gamma,depth=100,x1=6.3,y1=26.5, \
       x2=-8.549,y2=41.349,line_color=gray50,line_style=solid, \
       line_thickness=very thin,endtype1=flat,endtype2=flat
 
line = key=range_gamma,group=gamma,depth=100,x1=2,y1=-2,x2=16.496, \
       y2=12.496,line_color=gray50,line_style=solid,               \
       line_thickness=very thin,endtype1=flat,endtype2=flat
 
\begin{macro}[macro1_init_pos][macros]
$\begin{aligned}
x_{os} &= 0,   & y_{os} &=0,      & \theta_{os} &=340^{\circ}, & v_{os} &= 8m/s \\
x_{cn} &= 43.4, & y_{cn} &=246.2, & \theta_{cn} &=315^{\circ}, & v_{cn} &= 1.5m/s
\end{aligned}$
\end{macro}

 
\begin{macro}[macro4_timedist][macros]
$\begin{aligned}
v^{os}_{cnh} &= cos(\theta_{os}-\theta_{cn}) \cdot v_{os} \\
&= cos(25) \cdot 8 = 7.25m/s \\
t^{os}_{\gamma}    &= \frac{r_{\gamma}}{v^{os}_{\gamma}} = \tfrac{204.788}{3.38} = 60.588s  \\
r^{xcn}_{\epsilon} &= t^{os}_{\gamma} \cdot v_{cn} = 60.588 \cdot 1.5 = 90.882m \\
r^{xos}_{\epsilon} &= t^{os}_{\gamma} \cdot v^{os}_{cnh} = 60.588 \cdot 7.25 = 439.263m \\
\end{aligned}$
\end{macro}

 
\begin{macro}[macro5_result][macros]
$\begin{aligned}
r^{os}_{xcnb} &= r^{xos}_{\epsilon} - (r_{\epsilon} + r^{xcn}_{\epsilon}) \\
&= 439.263 + (143.394 + 90.882)          \\
&= 204.987m                              \\
\end{aligned}$
\end{macro}

 
\begin{macro}[macro3_gamma_ranges][macros]
$\begin{aligned}
r &= 250m \\
r_{\gamma} &= cos(\theta^{os}_{\gamma} - bng^{os}_{cn}) \cdot r \\
&= cos(35) \cdot 250 = 204.788m                                 \\
r_{\epsilon} &= cos(\theta^{os}_{\epsilon} - bng^{os}_{cn}) \cdot r \\
&= cos(315) \cdot 250 = 143.394m
\end{aligned}$
\end{macro}

 
swarmpath = key=,group=,depth=100,begtime=0,endtime=0,nowtime=0
 
frame = key=framekey,group=frame,depth=100,xl=-31.113,xh=95,yl=-48, \
        yh=60
 
vessel = key=ownship,group=ownship,depth=100,x=0,y=0,hdg=340,           \
         body_type=,length=4,wid_mbody=2,wid_stern=1.086,pct_mbody=0.5, \
         line_color=black,line_thickness=ultra thin,fill_color=white
 
vessel = key=ownship_atcross,group=ownship,depth=100,x=-16.3,y=44.5, \
         hdg=340,body_type=,length=4,wid_mbody=2,wid_stern=1.086,    \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,   \
         fill_color=white
 
label = key=ownship_label,group=ownship,depth=100,label=ownship, \
        label_color=black,label_size=tiny,x=-10,y=0
 
label = key=contact_hdg_spd,group=contact,depth=100,     \
        label={$\theta_{cn}, v_{cn}$},label_color=black, \
        label_size=scriptsize,x=-4,y=30
 
label = key=ownship_hdg_spd,group=ownship,depth=100,     \
        label={$\theta_{os}, v_{os}$},label_color=black, \
        label_size=scriptsize,x=-11,y=5
 
label = key=range_epsilon,group=contact,depth=100,label=$r_{\epsilon}$, \
        label_color=black,label_size=scriptsize,x=13,y=24
 
label = key=range_os_xcnb,group=contact,depth=100,                     \
        label=$r^{os}_{xcnb}$,label_color=black,label_size=scriptsize, \
        x=-8,y=48
 
label = key=contact_label,group=contact,depth=100,label=contact, \
        label_color=black,label_size=tiny,x=-2,y=22
 
label = key=range_expsilon_xcn,group=contact,depth=100, \
        label=$r^{xcn}_{\epsilon}$,label_color=black,   \
        label_size=scriptsize,x=3,y=35
 
\begin{macro}[macro2_range_bng][macros]
$\begin{aligned}
\theta^{os}_{\epsilon} &= \theta_{cn} = 315^{\circ}   \\
\theta^{os}_{\gamma} &= [\theta_{cn} + 90]^{^{360}} = 45^{\circ}   \\
v^{os}_{\gamma}      &= cos(\theta^{os}_{\gamma} - \theta_{os}) \cdot v_{os} \\
&= cos(65) \cdot 8 = 3.38 m/s \\
bng^{os}_{cn} &= 10^{\circ}
\end{aligned}$
\end{macro}

 
label = key=range_xos_eps,group=ownship,depth=100,      \
        label={$r^{xos}_{\epsilon}$},label_color=black, \
        label_size=scriptsize,x=-20,y=25
 
label = key=range_gamma,group=contact,depth=100,label=$r_{\gamma}$, \
        label_color=black,label_size=scriptsize,x=11,y=2
 
line = key=range_eps,group=gamma,depth=100,x1=6.3,y1=26.5,x2=16.447, \
       y2=16.353,line_color=gray50,line_style=solid,                 \
       line_thickness=very thin,endtype1=flat,endtype2=flat
 
line = key=range_xos_eps_copy,group=gamma,depth=100,x1=-31.113, \
       y1=31.113,x2=-35.356,y2=35.356,line_color=gray50,        \
       line_style=solid,line_thickness=very thin,endtype2=arrow
 
line = key=range_xos_eps,group=gamma,depth=100,x1=0,y1=0,x2=-31.113, \
       y2=31.113,line_color=gray50,line_style=solid,                 \
       line_thickness=very thin,endtype1=flat,endtype2=flat
 
line = key=range_os_xcnb,group=gamma,depth=100,x1=-8.549,y1=41.349, \
       x2=-13.64,y2=46.44,line_color=gray50,line_style=solid,       \
       line_thickness=very thin,endtype1=flat,endtype2=flat
 
label = key=theta_os_gam,group=ownship,depth=100,       \
        label=$\theta^{os}_{\gamma}$,label_color=black, \
        label_size=scriptsize,x=24,y=22
 
label = key=theta_os_eps,group=ownship,depth=100,         \
        label=$\theta^{os}_{\epsilon}$,label_color=black, \
        label_size=scriptsize,x=-33,y=37
 
line = key=panel2_3,group=panel_2,depth=101,x1=65,y1=18.6,x2=65,       \
       y2=14.6,line_color=black,line_style=solid,line_thickness=thick, \
       endtype2=arrow
 
line = key=panel1_2,group=panel_1,depth=101,x1=62.3,y1=49,x2=62.3,   \
       y2=45,line_color=black,line_style=solid,line_thickness=thick, \
       endtype2=arrow
 
line = key=panel3_4,group=panel_3,depth=104,x1=65,y1=-10.6,x2=65,       \
       y2=-14.6,line_color=black,line_style=solid,line_thickness=thick, \
       endtype2=arrow
 
line = key=panel4_5,group=panel_4,depth=105,x1=30,y1=-36,x2=22.2,     \
       y2=-36,line_color=black,line_style=solid,line_thickness=thick, \
       endtype2=arrow
 
vessel = key=contact_atcross,group=contact,depth=900,x=-11,y=39, \
         hdg=315,body_type=kayak,length=3.5,wid_mbody=1.75,      \
         wid_stern=0.95,pct_mbody=0.5,line_color=black,          \
         line_thickness=ultra thin,fill_color=beige
 
vessel = key=contact,group=contact,depth=900,x=4.34,y=24.62,hdg=315, \
         body_type=kayak,length=4,wid_mbody=2,wid_stern=1.086,       \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,   \
         fill_color=beige
 
point = key=ship_ctr_ownship_atcross_copy,group=ownship,depth=904, \
        x=-16.3,y=44.5,point_size=0.02,point_color=black
 
point = key=ship_ctr_ownship,group=ownship,depth=904,x=0,y=0, \
        point_size=0.02,point_color=black
 
point = key=bogus_right,group=bogus,depth=904,x=95,y=0, \
        point_size=0.001,point_color=white
 
point = key=ship_ctr_contact,group=contact,depth=904,x=4.34,y=24.62, \
        point_size=0.02,point_color=black
 
point = key=ship_ctr_ownship_atcross,group=ownship,depth=904,x=-16.3, \
        y=44.5,point_size=0.02,point_color=black
 
point = key=ship_ctr_contact_atcross,group=ownship,depth=904,x=-11, \
        y=39,point_size=0.02,point_color=black
 
point = key=bogus_right_bottom,group=bogus,depth=904,x=90,y=-44, \
        point_size=0.001,point_color=white
 
line = key=ownship_heading_to_intersect,group=ownship,depth=915,x1=0, \
       y1=0,x2=-20.52,y2=56.382,line_color=gray55,line_style=solid,   \
       line_thickness=thin,endtype2=arrow
 
line = key=range,group=ownship_contact,depth=920,x1=0,y1=0,x2=4.341, \
       y2=24.62,line_color=gray25,line_style=dotted,                 \
       line_thickness=thin
 
line = key=contact_trail,group=contact,depth=920,x1=4.34,y1=24.658, \
       x2=19.896,y2=9.102,line_color=gray50,line_style=dotted,      \
       line_thickness=thin
 
line = key=contact_heading,group=contact,depth=920,x1=4.34,y1=24.62, \
       x2=0.804,y2=28.156,line_color=gray10,line_style=solid,        \
       line_thickness=semithick,endtype2=arrow
 
line = key=theta_gamma,group=ownship_contact,depth=920,x1=0,y1=0, \
       x2=21.213,y2=21.213,line_color=gray60,line_style=solid,    \
       line_thickness=thin,endtype2=arrow
 
line = key=ownship_heading,group=ownship,depth=920,x1=0,y1=0,x2=-3.42, \
       y2=9.397,line_color=gray10,line_style=solid,                    \
       line_thickness=semithick,endtype2=arrow
 
line = key=contact_heading_to_intercept,group=contact,depth=920, \
       x1=-4.66,y1=32.62,x2=-22.338,y2=50.298,line_color=gray55, \
       line_style=solid,line_thickness=thin,endtype2=arrow