\begin{tikzpicture}           
% Grid
\draw [rounded corners,menublue,fill=gray99, ultra thin]
(0,2.5) -- (0,0) -- (6,0) -- (6,5) -- (0,5) -- (0,2.5);
\draw [color=gray95, thin] (3,0) -- (3,5);
\draw [color=gray95, thin] (3.38751,0) -- (3.38751,5);
\draw [color=gray95, thin] (3.77502,0) -- (3.77502,5);
\draw [color=gray95, thin] (4.16252,0) -- (4.16252,5);
\draw [color=gray95, thin] (4.55003,0) -- (4.55003,5);
\draw [color=gray95, thin] (4.93754,0) -- (4.93754,5);
\draw [color=gray95, thin] (5.32505,0) -- (5.32505,5);
\draw [color=gray95, thin] (5.71256,0) -- (5.71256,5);
\draw [color=gray95, thin] (2.61249,0) -- (2.61249,5);
\draw [color=gray95, thin] (2.22498,0) -- (2.22498,5);
\draw [color=gray95, thin] (1.83748,0) -- (1.83748,5);
\draw [color=gray95, thin] (1.44997,0) -- (1.44997,5);
\draw [color=gray95, thin] (1.06246,0) -- (1.06246,5);
\draw [color=gray95, thin] (0.67495,0) -- (0.67495,5);
\draw [color=gray95, thin] (0.287442,0) -- (0.287442,5);
\draw [color=gray95, thin] (0,2.5) -- (6,2.5);
\draw [color=gray95, thin] (0,2.88751) -- (6,2.88751);
\draw [color=gray95, thin] (0,3.27502) -- (6,3.27502);
\draw [color=gray95, thin] (0,3.66252) -- (6,3.66252);
\draw [color=gray95, thin] (0,4.05003) -- (6,4.05003);
\draw [color=gray95, thin] (0,4.43754) -- (6,4.43754);
\draw [color=gray95, thin] (0,4.82505) -- (6,4.82505);
\draw [color=gray95, thin] (0,2.11249) -- (6,2.11249);
\draw [color=gray95, thin] (0,1.72498) -- (6,1.72498);
\draw [color=gray95, thin] (0,1.33748) -- (6,1.33748);
\draw [color=gray95, thin] (0,0.949967) -- (6,0.949967);
\draw [color=gray95, thin] (0,0.562459) -- (6,0.562459);
\draw [color=gray95, thin] (0,0.17495) -- (6,0.17495);
% Grid
\draw [rounded corners,menublue, ultra thin]
(0,2.5) -- (0,0) -- (6,0) -- (6,5) -- (0,5) -- (0,2.5);

% Draw Circle: contact:range
\draw [color=darkblue, very thin] 
(3,2.40255) circle (1.93754cm);

% Draw Wedge: contact:twedge
\draw [color=black,fill=gray95, very thin] 
(3,2.40255) -- (3.40284,4.29775) arc (78:102:1.93754) -- (3,2.40255) arc (102:78:0) -- cycle;
% Draw Wedge: ownship:os_headon
\draw [color=black,fill=gray95, very thin] 
(3,4.34009) -- (2.59716,2.44489) arc (258:282:1.93754) -- (3,4.34009) arc (282:258:0) -- cycle;
% Draw Wedge: ownship:measure_wedge
\draw [color=gray20,dashed, very thin] 
(2.71903,2.89462) -- (2.71903,2.89462) arc (259:281:1.47253) -- (3.28097,2.89462) arc (281:259:1.47253) -- cycle;
% Text Label
\draw [color=black] (2.11881,4.49355) node {\scriptsize
ownship
};

% Text Label
\draw [color=black] (2.99225,1.92979) node {\scriptsize
contact
};

% Text Label
\draw [color=black] (3.03875,3.10007) node {\tiny
$24^{\circ}$
};

% Ship drawing: inside triangle
\draw [color=gray90, fill=gray90, ultra thin] 
(2.94742,2.2088) -- (3,2.59631) -- (3.05258,2.2088);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(2.94742,2.2088) .. controls (2.90312,2.45099) .. (3,2.59631);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(3.05258,2.2088) .. controls (3.09688,2.45099) .. (3,2.59631);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(2.94742,2.2088) -- (3.05258,2.2088);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(3.05697,4.5326) -- (2.9956,4.14639) -- (2.95182,4.53499);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(3.05697,4.5326) .. controls (3.10017,4.28937) .. (2.9956,4.14639);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(2.95182,4.53499) .. controls (2.89763,4.29396) .. (2.9956,4.14639);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(3.05697,4.5326) -- (2.95182,4.53499);
% Draw Point: ownship:ship_ctr
\draw [color=black,fill=black, thin] 
(3,4.34009) circle (0.02cm);
% Draw Point: contact:ship_ctr
\draw [color=black,fill=black, thin] 
(3,2.40255) circle (0.02cm);
% Draw Line: ownship:cn_north
\draw [color=gray25, ->, thin] 
(3,2.40255) -- (3,2.79006);
\end{tikzpicture}  
