\begin{tikzpicture}           
% Grid
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% Grid
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% Draw Circle: contact:range
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% 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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% Panel
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% Text Label
\draw [color=black] (4.15335,10.063) 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] (10.8756,6.6713) node {\scriptsize
$\begin{aligned}
\theta^{os}_{\epsilon} &= \theta_{cn} = 315^{\circ}   \\
v^{os}_{cnh}      &= cos(\theta^{os} - \theta^{os}_{\epsilon}) \cdot v_{os} \\
v^{os}_{cnh}      &= cos(340 - 315) \cdot 8 = 7.25m/s \\[0.06in]
v^{os}_{\epsilon} &= v^{os}_{cnh} - v_{cn} \\
v^{os}_{\epsilon} &= 7.25 - 1.5 = 5.75m/s \\
\end{aligned}$
};

% Text Label
\draw [color=black] (11.1811,9.63519) node {\scriptsize
$\begin{aligned}
\theta^{os}_{\gamma} &= [\theta_{cn} + 90]^{^{360}} = 45^{\circ}   \\
v^{os}_{\gamma}      &= cos(\theta^{os}_{\gamma} - \theta_{os}) \cdot v_{os} \\
&= cos(65) \cdot 8 = 3.381 m/s \\
bng^{os}_{cn} &= 10^{\circ}
\end{aligned}$
};

% Text Label
\draw [color=black] (11.283,3.70741) node {\scriptsize
$\begin{aligned}
r &= 250m \\
r_{\gamma} &= cos(\theta^{os}_{\gamma} - bng^{os}_{cn}) \cdot r \\
&= cos(35) \cdot 250 = 204.788 m                                 \\
r_{\epsilon} &= cos(\theta^{os}_{\epsilon} - bng^{os}_{cn}) \cdot r \\
&= cos(305) \cdot 250 = 143.394 m
\end{aligned}$
};

% Text Label
\draw [color=black] (10.6719,1.12037) node {\scriptsize
$\begin{aligned}
t^{os}_{\epsilon} &= \frac{r_{\epsilon}}{v^{os}_{\epsilon}} = \frac{143.394}{6.75} = 24.9381s \\
r^{pos}_{\gamma} &= t^{os}_{\epsilon} \cdot v^{os}_{\gamma} = 24.9381 \cdot 3.381 = 84.3157m \\
\end{aligned}$
};

% Text Label
\draw [color=black] (4.0515,1.01852) node {\scriptsize
$\begin{aligned}
r^{os}_{pcnp} &= r_{\gamma} - r^{pos}_{\gamma} \\
&= 204.788 - 84.3157                           \\
&= 120.472m                                    \\
\end{aligned}$
};

% Draw Line: gamma:range_gamma
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% Draw Line: contact:beam_star
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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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% 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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% Text Label
\draw [color=black] (5.4265,7.89352) node {\scriptsize
{$\theta_{cn}, v_{cn}$}
};

% Text Label
\draw [color=black] (4.35706,4.22685) node {\tiny
ownship
};

% Text Label
\draw [color=black] (4.35706,3.97222) node {\scriptsize
{$\theta_{os}, v_{os}$}
};

% Text Label
\draw [color=black] (5.07002,6.41667) node {\scriptsize
$r_{\epsilon}$
};

% Text Label
\draw [color=black] (6.8015,7.02778) node {\scriptsize
$\theta^{os}_{\gamma}$
};

% Text Label
\draw [color=black] (5.47743,4.99074) node {\scriptsize
$r_{\gamma}$
};


% Text Label
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{$r^{pos}_{\gamma}$}
};

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% Draw Line: gamma:range_epsilon
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% Draw Line: gamma:range_pos_gam
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% Draw Line: contact:beam_port
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% Draw Line: gamma:range_os_in_cnh
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% Text Label
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{$r^{os}_{pcnp}$}
};

% Text Label
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contact
};

% Text Label
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contact
};

% Text Label
\draw [color=black] (1.40335,5.80556) node {\tiny
beam
};

% Draw Line: panel_2:panel2_3
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% Draw Line: panel_1:panel1_2
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% Draw Line: panel2a:panel2a_2
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% Draw Line: panel_3:panel3_4
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% Draw Line: panel_4:panel4_5
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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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% 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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% Draw Point: contact:ship_ctr_contact
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% Draw Point: contact:ship_ctr_contact_atcross
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% Draw Point: bogus:bogus_right
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% Draw Point: ownship:ship_ctr_ownship
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% Draw Point: ownship:ship_ctr_ownship_atcross
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% Draw Point: bogus:bogus_right_bottom
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% Draw Line: ownship:ownship_heading_to_intersect
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% Draw Line: ownship_contact:range_line
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% Draw Line: contact:contact_trail
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% Draw Line: ownship_contact:theta_gamma
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% Draw Line: ownship:ownship_heading
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% Draw Line: contact:contact_heading_to_intercept
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% Draw Line: contact:contact_heading
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\end{tikzpicture}  
