\begin{tikzpicture}           
% Grid
\draw [rounded corners,menublue,fill=gray99, ultra thin]
(0,3) -- (0,0) -- (7,0) -- (7,6) -- (0,6) -- (0,3);
\draw [color=gray95, thin] (3.5,0) -- (3.5,6);
\draw [color=gray95, thin] (3.94281,0) -- (3.94281,6);
\draw [color=gray95, thin] (4.38562,0) -- (4.38562,6);
\draw [color=gray95, thin] (4.82843,0) -- (4.82843,6);
\draw [color=gray95, thin] (5.27124,0) -- (5.27124,6);
\draw [color=gray95, thin] (5.71405,0) -- (5.71405,6);
\draw [color=gray95, thin] (6.15687,0) -- (6.15687,6);
\draw [color=gray95, thin] (6.59968,0) -- (6.59968,6);
\draw [color=gray95, thin] (3.05719,0) -- (3.05719,6);
\draw [color=gray95, thin] (2.61438,0) -- (2.61438,6);
\draw [color=gray95, thin] (2.17157,0) -- (2.17157,6);
\draw [color=gray95, thin] (1.72876,0) -- (1.72876,6);
\draw [color=gray95, thin] (1.28595,0) -- (1.28595,6);
\draw [color=gray95, thin] (0.843134,0) -- (0.843134,6);
\draw [color=gray95, thin] (0.400323,0) -- (0.400323,6);
\draw [color=gray95, thin] (0,3) -- (7,3);
\draw [color=gray95, thin] (0,3.44281) -- (7,3.44281);
\draw [color=gray95, thin] (0,3.88562) -- (7,3.88562);
\draw [color=gray95, thin] (0,4.32843) -- (7,4.32843);
\draw [color=gray95, thin] (0,4.77124) -- (7,4.77124);
\draw [color=gray95, thin] (0,5.21405) -- (7,5.21405);
\draw [color=gray95, thin] (0,5.65687) -- (7,5.65687);
\draw [color=gray95, thin] (0,2.55719) -- (7,2.55719);
\draw [color=gray95, thin] (0,2.11438) -- (7,2.11438);
\draw [color=gray95, thin] (0,1.67157) -- (7,1.67157);
\draw [color=gray95, thin] (0,1.22876) -- (7,1.22876);
\draw [color=gray95, thin] (0,0.785945) -- (7,0.785945);
\draw [color=gray95, thin] (0,0.343134) -- (7,0.343134);
% Grid
\draw [rounded corners,menublue, ultra thin]
(0,3) -- (0,0) -- (7,0) -- (7,6) -- (0,6) -- (0,3);


% Text Label
\draw [color=black] (4.31446,2.13807) node {\scriptsize
ownship
};

% Text Label
\draw [color=black] (5.28865,4.175) node {\footnotesize
contact
};

% Text Label
\draw [color=black] (2.89747,1.16388) node {\scriptsize
aft
};

% Text Label
\draw [color=black] (2.36609,1.51813) node {\scriptsize
fore
};

% Text Label
\draw [color=black] (4.13734,4.97206) node {\scriptsize
fore
};

% Text Label
\draw [color=black] (1.6576,3.90931) node {\tiny
{\tt os\_aft\_of\_cn=true}
};

% Text Label
\draw [color=black] (1.6576,3.64363) node {\tiny
{\tt os\_fore\_of\_cn=false}
};

% Text Label
\draw [color=black] (1.6576,3.37794) node {\tiny
{\tt cn\_aft\_of\_os=false}
};

% Text Label
\draw [color=black] (1.6576,3.11225) node {\tiny
{\tt cn\_fore\_of\_os=true}
};

% Ship drawing: inside triangle
\draw [color=gray90, fill=gray90, ultra thin] 
(4.12435,4.01531) -- (4.6222,4.39418) -- (4.24334,3.89633);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(4.12435,4.01531) .. controls (4.34823,4.33938) .. (4.6222,4.39418);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(4.24334,3.89633) .. controls (4.56741,4.1202) .. (4.6222,4.39418);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(4.12435,4.01531) -- (4.24334,3.89633);
% Ship drawing: inside triangle
\draw [color=gray90, fill=gray90, ultra thin] 
(3.58853,1.8594) -- (3.20966,2.35725) -- (3.70751,1.97838);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(3.58853,1.8594) .. controls (3.25948,2.07829) .. (3.20966,2.35725);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(3.70751,1.97838) .. controls (3.48861,2.30743) .. (3.20966,2.35725);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(3.58853,1.8594) -- (3.70751,1.97838);
% Draw Point: ownship:ship_ctr
\draw [color=black,fill=black, thin] 
(3.42884,2.13807) circle (0.03cm);
% Draw Point: contact:ship_ctr
\draw [color=black,fill=black, thin] 
(4.40302,4.175) circle (0.03cm);
% Draw Line: ownship:southwest_line
\draw [color=gray25, dashed, -|, very thin] 
(3.42884,2.13807) -- (2.17639,0.885622);
% Draw Line: ownship:northeast_line
\draw [color=gray25, dashed, -|, very thin] 
(3.42884,2.13807) -- (4.68129,3.39051);
% Text Label
\draw [color=black] (3.60596,4.61781) node {\scriptsize
aft
};

% Draw Line: ownship:cn_southeast
\draw [color=gray25, dashed, -|, very thin] 
(4.40302,4.175) -- (5.3424,3.23562);
% Draw Line: ownship:cn_northwest
\draw [color=gray25, dashed, -|, very thin] 
(4.40302,4.175) -- (3.46365,5.11438);
\end{tikzpicture}  
