\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]
(1.75,4.96167) -- (1.75,4.46167) -- (2.95,4.46167) -- (2.95,5.46167) -- (1.75,5.46167) -- (1.75,4.96167);

% Panel
\draw [rounded corners,gray40,fill=beige, thin]
(3.85,6.0375) -- (3.85,5.5875) -- (5.85,5.5875) -- (5.85,6.4875) -- (3.85,6.4875) -- (3.85,6.0375);

% Panel
\draw [rounded corners,gray40,fill=beige, thin]
(1.4875,1.16667) -- (1.4875,0.716667) -- (3.4875,0.716667) -- (3.4875,1.61667) -- (1.4875,1.61667) -- (1.4875,1.16667);

% Panel
\draw [rounded corners,gray40,fill=beige, thin]
(4.60833,3.26667) -- (4.60833,2.81667) -- (6.60833,2.81667) -- (6.60833,3.71667) -- (4.60833,3.71667) -- (4.60833,3.26667);


% Draw Line: lines:speed_ownship
\draw [color=black, ->, very thin] 
(3.64583,2.23333) -- (3.68655,3.3993);
% Draw Line: lines:speed_contact
\draw [color=black, ->, very thin] 
(3.5,4.91667) -- (3.47556,4.21708);
% Draw Line: field:os_cn_range
\draw [color=gray40, very thin] 
(3.64583,2.23333) -- (3.5,5.03333);
% 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] (2.33333,4.975) node {\scriptsize
$\begin{aligned}
x_{cn} &=0   \\
y_{cn} &=0
\end{aligned}$
};

% Text Label
\draw [color=black] (4.81833,6.025) node {\scriptsize
$\begin{aligned}
\theta_{cn} &=182^{\circ}   \\
v_{cn} &=0.5m/s
\end{aligned}$
};

% Text Label
\draw [color=black] (2.47917,1.18333) node {\scriptsize
$\begin{aligned}
x_{os} &=2.5   \\
y_{os} &=-46
\end{aligned}$
};

% Text Label
\draw [color=black] (5.54167,3.25417) node {\scriptsize
$\begin{aligned}
\theta_{os} &=2^{\circ}   \\
v_{os} &=0.4m/s
\end{aligned}$
};

% Text Label
\draw [color=black] (4.14167,5.09167) node {\scriptsize
contact
};

% Text Label
\draw [color=black] (4.49167,2.23333) node {\scriptsize
ownship
};

% Text Label
\draw [color=black] (2.45,3.28333) node {\scriptsize
${range=47.2m}$
};

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





% Ship drawing: inside triangle
\draw [color=white, fill=white, very thin] 
(3.57438,2.00235) -- (3.65398,2.46652) -- (3.701,1.99793);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, very thin] 
(3.57438,2.00235) .. controls (3.55459,2.29489) .. (3.65398,2.46652);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, very thin] 
(3.701,1.99793) .. controls (3.74115,2.28837) .. (3.65398,2.46652);
% Ship drawing: stern line 
\draw [color=black, very thin] 
(3.57438,2.00235) -- (3.701,1.99793);
% Ship drawing: inside triangle
\draw [color=gray60, fill=gray60, very thin] 
(3.57145,5.14765) -- (3.49186,4.68348) -- (3.44483,5.15207);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray60, very thin] 
(3.57145,5.14765) .. controls (3.59124,4.85511) .. (3.49186,4.68348);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray60, very thin] 
(3.44483,5.15207) .. controls (3.40469,4.86163) .. (3.49186,4.68348);
% Ship drawing: stern line 
\draw [color=black, very thin] 
(3.57145,5.14765) -- (3.44483,5.15207);
\end{tikzpicture}  
