grid = key=master,group=grid,depth=1,widthcm=7,heightcm=7.5,gcell=20, \
       xmarg=0,ymarg=0,shrink=false,rounded=true,                     \
       border_thickness=very thin,border_color=gray20,                \
       gback_color=gray85,gline_thickness=very thin,gline_color=white
 
panel = key=panel_cn_pos,group=contact,depth=2,x=-25,y=-9.5,       \
        widthcm=1.2,heightcm=1,rounded=true,border_thickness=thin, \
        border_color=gray40,panel_color=beige
 
panel = key=panel_cn_traj,group=contact,depth=2,x=6,y=11.5,widthcm=1.5, \
        heightcm=0.9,rounded=true,border_thickness=thin,                \
        border_color=gray40,panel_color=beige
 
panel = key=panel_os_pos,group=ownship,depth=2,x=-24,y=-53,widthcm=2, \
        heightcm=0.9,rounded=true,border_thickness=thin,              \
        border_color=gray40,panel_color=beige
 
panel = key=panel_os_traj,group=ownship,depth=2,x=19,y=-31,widthcm=1.5, \
        heightcm=0.9,rounded=true,border_thickness=thin,                \
        border_color=gray40,panel_color=beige
 
swarmpath = key=,group=,depth=100,begtime=0,endtime=0,nowtime=0
 
frame = key=framekey,group=frame,depth=100,xl=-60,xh=60,yl=-80,yh=40
 
line = key=key_5,group=lines,depth=100,x1=14.65,y1=-44.88,x2=15.348, \
       y2=-24.892,line_color=black,line_style=solid,                 \
       line_thickness=very thin,endtype2=arrow
 
line = key=key_5_copy,group=lines,depth=100,x1=0,y1=0,x2=2.783, \
       y2=19.805,line_color=black,line_style=solid,             \
       line_thickness=very thin,endtype2=arrow
 
label = key=contact_pos,group=contact,depth=100,         \
        label=macro:macro_cn_init_pos,label_color=black, \
        label_size=scriptsize,x=-15,y=-0.8
 
label = key=contact_traj,group=contact,depth=100,         \
        label=macro:macro_cn_init_traj,label_color=black, \
        label_size=scriptsize,x=18,y=19
 
label = key=ownship_pos,group=ownship,depth=100,         \
        label=macro:macro_os_init_pos,label_color=black, \
        label_size=scriptsize,x=-7,y=-45
 
label = key=ownship_traj,group=ownship,depth=100,         \
        label=macro:macro_os_init_traj,label_color=black, \
        label_size=scriptsize,x=31,y=-23.5
 
label = key=contact_name,group=contact,depth=100,label=contact, \
        label_color=black,label_size=scriptsize,x=11,y=3
 
label = key=ownship_name,group=contact,depth=100,label=ownship, \
        label_color=black,label_size=scriptsize,x=27,y=-44
 
\begin{macro}[macro_cn_init_pos][macros]
$\begin{aligned}
x_{cn} &=0   \\
y_{cn} &=0
\end{aligned}$
\end{macro}

 
\begin{macro}[macro_cn_init_traj][macros]
$\begin{aligned}
\theta_{cn} &=8   \\
v_{cn} &=0.3
\end{aligned}$
\end{macro}

 
\begin{macro}[macro_os_init_pos][macros]
$\begin{aligned}
x_{os} &=14.65   \\
y_{os} &=-44.88
\end{aligned}$
\end{macro}

 
\begin{macro}[macro_os_init_traj][macros]
$\begin{aligned}
\theta_{os} &=2   \\
v_{os} &=1.0
\end{aligned}$
\end{macro}

 
vessel = key=ownship,group=ships,depth=900,x=14.65,y=-44.88,hdg=2, \
         body_type=kayak,length=8,wid_mbody=3.2,wid_stern=2.172,   \
         pct_mbody=0.5,line_color=black,line_thickness=very thin,  \
         fill_color=white
 
vessel = key=contact,group=ships,depth=900,x=0,y=0,hdg=8,         \
         body_type=kayak,length=8,wid_mbody=3.2,wid_stern=2.172,  \
         pct_mbody=0.5,line_color=black,line_thickness=very thin, \
         fill_color=gray60