\begin{tikzpicture}           
% Grid
\draw [rounded corners,gray20,fill=gray85, very thin]
(0,3.75) -- (0,0) -- (7,0) -- (7,7.5) -- (0,7.5) -- (0,3.75);
\draw [color=white, very thin] (3.5,0) -- (3.5,7.5);
\draw [color=white, very thin] (4.66667,0) -- (4.66667,7.5);
\draw [color=white, very thin] (5.83333,0) -- (5.83333,7.5);
\draw [color=white, very thin] (2.33333,0) -- (2.33333,7.5);
\draw [color=white, very thin] (1.16667,0) -- (1.16667,7.5);
\draw [color=white, very thin] (0,3.75) -- (7,3.75);
\draw [color=white, very thin] (0,4.91667) -- (7,4.91667);
\draw [color=white, very thin] (0,6.08333) -- (7,6.08333);
\draw [color=white, very thin] (0,7.25) -- (7,7.25);
\draw [color=white, very thin] (0,2.58333) -- (7,2.58333);
\draw [color=white, very thin] (0,1.41667) -- (7,1.41667);
\draw [color=white, very thin] (0,0.25) -- (7,0.25);
% Grid
\draw [rounded corners,gray20, very thin]
(0,3.75) -- (0,0) -- (7,0) -- (7,7.5) -- (0,7.5) -- (0,3.75);

% Panel
\draw [rounded corners,gray40,fill=beige, thin]
(4.66667,1.39167) -- (4.66667,0.891667) -- (6.46667,0.891667) -- (6.46667,1.89167) -- (4.66667,1.89167) -- (4.66667,1.39167);

% Panel
\draw [rounded corners,gray40,fill=beige, thin]
(4.78333,4.55) -- (4.78333,4.1) -- (6.78333,4.1) -- (6.78333,5) -- (4.78333,5) -- (4.78333,4.55);

% Panel
\draw [rounded corners,gray40,fill=beige, thin]
(0.991667,2.04167) -- (0.991667,1.59167) -- (2.99167,1.59167) -- (2.99167,2.49167) -- (0.991667,2.49167) -- (0.991667,2.04167);

% Panel
\draw [rounded corners,gray40,fill=beige, thin]
(1.63333,6.24167) -- (1.63333,5.79167) -- (3.63333,5.79167) -- (3.63333,6.69167) -- (1.63333,6.69167) -- (1.63333,6.24167);


% Draw Line: lines:speed_ownship
\draw [color=black, ->, very thin] 
(1.16667,3.75) -- (1.42223,5.36321);
% Draw Line: lines:speed_contact
\draw [color=black, ->, very thin] 
(5.25,2.58333) -- (4.68271,3.17081);
% Draw Line: field:os_cn_range
\draw [color=gray40, very thin] 
(1.16667,3.75) -- (5.25,2.58333);
% Draw Line: field:cell_key_ns
\draw [color=gray40, <->, thin] 
(0.291667,7.25) -- (0.291667,6.08333);
% Draw Line: field:cell_key_ew
\draw [color=gray40, <->, thin] 
(0,6.375) -- (1.16667,6.375);
% Text Label
\draw [color=black] (5.54167,1.41667) node {\scriptsize
$\begin{aligned}
x_{cn} &=30   \\
y_{cn} &=-40
\end{aligned}$
};

% Text Label
\draw [color=black] (5.74583,4.5375) node {\scriptsize
$\begin{aligned}
\theta_{cn} &=316^{\circ}   \\
v_{cn} &=0.7m/s
\end{aligned}$
};

% Text Label
\draw [color=black] (1.89583,2.05833) node {\scriptsize
$\begin{aligned}
x_{os} &=-40   \\
y_{os} &=-20
\end{aligned}$
};

% Text Label
\draw [color=black] (2.625,6.25833) node {\scriptsize
$\begin{aligned}
\theta_{os} &=9^{\circ}   \\
v_{os} &=0.5m/s
\end{aligned}$
};

% Text Label
\draw [color=black] (5.83333,3.16667) node {\scriptsize
contact
};

% Text Label
\draw [color=black] (1.16667,3.16667) node {\scriptsize
ownship
};

% Text Label
\draw [color=black] (2.68333,3.86667) node {\scriptsize
${range=72.8m}$
};

% Text Label
\draw [color=black] (0.583333,6.55) node {\tiny
20m
};





% Ship drawing: inside triangle
\draw [color=white, fill=white, very thin] 
(1.0676,3.52945) -- (1.20317,3.98046) -- (1.19274,3.50963);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, very thin] 
(1.0676,3.52945) .. controls (1.08361,3.82222) .. (1.20317,3.98046);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, very thin] 
(1.19274,3.50963) .. controls (1.26798,3.79301) .. (1.20317,3.98046);
% Ship drawing: stern line 
\draw [color=black, very thin] 
(1.0676,3.52945) -- (1.19274,3.50963);
% Ship drawing: inside triangle
\draw [color=gray60, fill=gray60, very thin] 
(5.36652,2.37148) -- (5.08791,2.75118) -- (5.45766,2.45949);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray60, very thin] 
(5.36652,2.37148) .. controls (5.14234,2.56046) .. (5.08791,2.75118);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray60, very thin] 
(5.45766,2.45949) .. controls (5.27662,2.69013) .. (5.08791,2.75118);
% Ship drawing: stern line 
\draw [color=black, very thin] 
(5.36652,2.37148) -- (5.45766,2.45949);
\end{tikzpicture}  
