\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] (3.98277,0) -- (3.98277,6);
\draw [color=gray95, thin] (4.46553,0) -- (4.46553,6);
\draw [color=gray95, thin] (4.9483,0) -- (4.9483,6);
\draw [color=gray95, thin] (5.43106,0) -- (5.43106,6);
\draw [color=gray95, thin] (5.91383,0) -- (5.91383,6);
\draw [color=gray95, thin] (6.39659,0) -- (6.39659,6);
\draw [color=gray95, thin] (6.87936,0) -- (6.87936,6);
\draw [color=gray95, thin] (3.01723,0) -- (3.01723,6);
\draw [color=gray95, thin] (2.53447,0) -- (2.53447,6);
\draw [color=gray95, thin] (2.0517,0) -- (2.0517,6);
\draw [color=gray95, thin] (1.56894,0) -- (1.56894,6);
\draw [color=gray95, thin] (1.08617,0) -- (1.08617,6);
\draw [color=gray95, thin] (0.603408,0) -- (0.603408,6);
\draw [color=gray95, thin] (0.120643,0) -- (0.120643,6);
\draw [color=gray95, thin] (0,3) -- (7,3);
\draw [color=gray95, thin] (0,3.48277) -- (7,3.48277);
\draw [color=gray95, thin] (0,3.96553) -- (7,3.96553);
\draw [color=gray95, thin] (0,4.4483) -- (7,4.4483);
\draw [color=gray95, thin] (0,4.93106) -- (7,4.93106);
\draw [color=gray95, thin] (0,5.41383) -- (7,5.41383);
\draw [color=gray95, thin] (0,5.89659) -- (7,5.89659);
\draw [color=gray95, thin] (0,2.51723) -- (7,2.51723);
\draw [color=gray95, thin] (0,2.03447) -- (7,2.03447);
\draw [color=gray95, thin] (0,1.5517) -- (7,1.5517);
\draw [color=gray95, thin] (0,1.06894) -- (7,1.06894);
\draw [color=gray95, thin] (0,0.586174) -- (7,0.586174);
\draw [color=gray95, thin] (0,0.103408) -- (7,0.103408);
% Grid
\draw [rounded corners,menublue, ultra thin]
(0,3) -- (0,0) -- (7,0) -- (7,6) -- (0,6) -- (0,3);


% Text Label
\draw [color=black] (4.20054,2.33098) node {\scriptsize
ownship
};

% Text Label
\draw [color=black] (5.26262,5.03447) node {\footnotesize
contact
};

% Text Label
\draw [color=black] (2.65569,1.2689) node {\scriptsize
fore
};

% Text Label
\draw [color=black] (2.07637,1.65511) node {\scriptsize
aft
};

% Text Label
\draw [color=black] (3.23501,4.59998) node {\scriptsize
fore
};

% Text Label
\draw [color=black] (1.30395,4.26204) node {\tiny
{\tt os\_aft\_of\_cn=false}
};

% Text Label
\draw [color=black] (1.30395,3.97239) node {\tiny
{\tt os\_fore\_of\_cn=true}
};

% Text Label
\draw [color=black] (1.30395,3.68273) node {\tiny
{\tt cn\_aft\_of\_os=true}
};

% Text Label
\draw [color=black] (1.30395,3.39307) node {\tiny
{\tt cn\_fore\_of\_os=false}
};

% Ship drawing: inside triangle
\draw [color=gray90, fill=gray90, ultra thin] 
(4.47316,4.85438) -- (4.20963,4.22528) -- (4.29596,4.90187);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(4.47316,4.85438) .. controls (4.43844,4.42637) .. (4.20963,4.22528);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(4.29596,4.90187) .. controls (4.11202,4.51383) .. (4.20963,4.22528);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(4.47316,4.85438) -- (4.29596,4.90187);
% Ship drawing: inside triangle
\draw [color=gray90, fill=gray90, ultra thin] 
(3.06091,2.6348) -- (3.47397,2.09203) -- (2.93119,2.50508);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(3.06091,2.6348) .. controls (3.41966,2.39615) .. (3.47397,2.09203);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(2.93119,2.50508) .. controls (3.16984,2.14634) .. (3.47397,2.09203);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(3.06091,2.6348) -- (2.93119,2.50508);
% Draw Point: ownship:ship_ctr
\draw [color=black,fill=black, thin] 
(3.23501,2.33098) circle (0.03cm);
% Draw Point: contact:ship_ctr
\draw [color=black,fill=black, thin] 
(4.29709,4.5517) circle (0.03cm);
% Draw Line: ownship:southwest_line
\draw [color=gray25, dashed, -|, very thin] 
(3.23501,2.33098) -- (1.86956,0.965531);
% Draw Line: ownship:northeast_line
\draw [color=gray25, dashed, -|, very thin] 
(3.23501,2.33098) -- (4.60046,3.69644);
% Text Label
\draw [color=black] (3.42812,5.03447) node {\scriptsize
aft
};

% Draw Line: contact:cn_southeast
\draw [color=gray25, dashed, -|, very thin] 
(4.29709,4.5517) -- (5.69605,4.17689);
% Draw Line: contact:cn_northwest
\draw [color=gray25, dashed, -|, very thin] 
(4.29709,4.5517) -- (2.89814,4.92652);
\end{tikzpicture}  
