\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]
(2.04167,4.87917) -- (2.04167,4.47917) -- (3.24167,4.47917) -- (3.24167,5.27917) -- (2.04167,5.27917) -- (2.04167,4.87917);

% Panel
\draw [rounded corners,gray40,fill=beige, thin]
(3.9375,6.01667) -- (3.9375,5.61667) -- (5.2375,5.61667) -- (5.2375,6.41667) -- (3.9375,6.41667) -- (3.9375,6.01667);

% Panel
\draw [rounded corners,gray40,fill=beige, thin]
(2.33333,2.28333) -- (2.33333,1.88333) -- (4.13333,1.88333) -- (4.13333,2.68333) -- (2.33333,2.68333) -- (2.33333,2.28333);

% Panel
\draw [rounded corners,gray40,fill=beige, thin]
(4.66667,3.56667) -- (4.66667,3.16667) -- (5.96667,3.16667) -- (5.96667,3.96667) -- (4.66667,3.96667) -- (4.66667,3.56667);


% Draw Line: lines:key_5
\draw [color=black, ->, very thin] 
(4.35458,2.29867) -- (4.3953,3.46463);
% Draw Line: lines:key_5_copy
\draw [color=black, ->, very thin] 
(3.5,4.91667) -- (3.66234,6.07196);
% Text Label
\draw [color=black] (2.625,4.87) node {\tiny
$\begin{aligned}
x_{cn} &=0   \\
y_{cn} &=0
\end{aligned}$
};

% Text Label
\draw [color=black] (4.55,6.025) node {\tiny
$\begin{aligned}
\theta_{cn} &=8   \\
v_{cn} &=0.3
\end{aligned}$
};

% Text Label
\draw [color=black] (3.20833,2.29167) node {\tiny
$\begin{aligned}
x_{os} &=14.65   \\
y_{os} &=-44.88
\end{aligned}$
};

% Text Label
\draw [color=black] (5.30833,3.54583) node {\tiny
$\begin{aligned}
\theta_{os} &=2   \\
v_{os} &=1.0
\end{aligned}$
};

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

% Text Label
\draw [color=black] (5.075,2.35) node {\scriptsize
ownship
};





% Ship drawing: inside triangle
\draw [color=white, fill=white, very thin] 
(4.28313,2.06769) -- (4.36273,2.53186) -- (4.40975,2.06326);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, very thin] 
(4.28313,2.06769) .. controls (4.26334,2.36022) .. (4.36273,2.53186);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, very thin] 
(4.40975,2.06326) .. controls (4.4499,2.35371) .. (4.36273,2.53186);
% Ship drawing: stern line 
\draw [color=black, very thin] 
(4.28313,2.06769) -- (4.40975,2.06326);
% Ship drawing: inside triangle
\draw [color=gray60, fill=gray60, very thin] 
(3.40479,4.69442) -- (3.53247,5.14773) -- (3.53026,4.67679);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray60, very thin] 
(3.40479,4.69442) .. controls (3.41569,4.98742) .. (3.53247,5.14773);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray60, very thin] 
(3.53026,4.67679) .. controls (3.60054,4.96144) .. (3.53247,5.14773);
% Ship drawing: stern line 
\draw [color=black, very thin] 
(3.40479,4.69442) -- (3.53026,4.67679);
\end{tikzpicture}  
