\begin{tikzpicture}           
% Grid
\draw [rounded corners,menublue,fill=gray99, ultra thin]
(0,3) -- (0,0) -- (7,0) -- (7,6) -- (0,6) -- (0,3);
\draw [color=gray95, thin] (3.5,0) -- (3.5,6);
\draw [color=gray95, thin] (3.88226,0) -- (3.88226,6);
\draw [color=gray95, thin] (4.26453,0) -- (4.26453,6);
\draw [color=gray95, thin] (4.64679,0) -- (4.64679,6);
\draw [color=gray95, thin] (5.02905,0) -- (5.02905,6);
\draw [color=gray95, thin] (5.41131,0) -- (5.41131,6);
\draw [color=gray95, thin] (5.79358,0) -- (5.79358,6);
\draw [color=gray95, thin] (6.17584,0) -- (6.17584,6);
\draw [color=gray95, thin] (6.5581,0) -- (6.5581,6);
\draw [color=gray95, thin] (6.94037,0) -- (6.94037,6);
\draw [color=gray95, thin] (3.11774,0) -- (3.11774,6);
\draw [color=gray95, thin] (2.73547,0) -- (2.73547,6);
\draw [color=gray95, thin] (2.35321,0) -- (2.35321,6);
\draw [color=gray95, thin] (1.97095,0) -- (1.97095,6);
\draw [color=gray95, thin] (1.58869,0) -- (1.58869,6);
\draw [color=gray95, thin] (1.20642,0) -- (1.20642,6);
\draw [color=gray95, thin] (0.824159,0) -- (0.824159,6);
\draw [color=gray95, thin] (0.441896,0) -- (0.441896,6);
\draw [color=gray95, thin] (0.059633,0) -- (0.059633,6);
\draw [color=gray95, thin] (0,3) -- (7,3);
\draw [color=gray95, thin] (0,3.38226) -- (7,3.38226);
\draw [color=gray95, thin] (0,3.76453) -- (7,3.76453);
\draw [color=gray95, thin] (0,4.14679) -- (7,4.14679);
\draw [color=gray95, thin] (0,4.52905) -- (7,4.52905);
\draw [color=gray95, thin] (0,4.91131) -- (7,4.91131);
\draw [color=gray95, thin] (0,5.29358) -- (7,5.29358);
\draw [color=gray95, thin] (0,5.67584) -- (7,5.67584);
\draw [color=gray95, thin] (0,2.61774) -- (7,2.61774);
\draw [color=gray95, thin] (0,2.23547) -- (7,2.23547);
\draw [color=gray95, thin] (0,1.85321) -- (7,1.85321);
\draw [color=gray95, thin] (0,1.47095) -- (7,1.47095);
\draw [color=gray95, thin] (0,1.08869) -- (7,1.08869);
\draw [color=gray95, thin] (0,0.706422) -- (7,0.706422);
\draw [color=gray95, thin] (0,0.324159) -- (7,0.324159);
% Grid
\draw [rounded corners,menublue, ultra thin]
(0,3) -- (0,0) -- (7,0) -- (7,6) -- (0,6) -- (0,3);

% Draw Circle: contact:range
\draw [color=darkblue, very thin] 
(3.5,2.86697) circle (1.91131cm);

% Text Label
\draw [color=black] (3.49235,2.40061) node {\scriptsize
contact
};

% Text Label
\draw [color=black] (3.43349,5.23547) node {\scriptsize
ownship
};

% Ship drawing: inside triangle
\draw [color=gray90, fill=gray90, ultra thin] 
(3.44813,2.67584) -- (3.5,3.0581) -- (3.55187,2.67584);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(3.44813,2.67584) .. controls (3.40443,2.91476) .. (3.5,3.0581);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(3.55187,2.67584) .. controls (3.59557,2.91476) .. (3.5,3.0581);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(3.44813,2.67584) -- (3.55187,2.67584);
% Draw Line: ownship:bng_00
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (3.5,4.77829);
% Draw Line: ownship:bng_195
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (3.00535,1.0208);
% Draw Line: ownship:bng_30
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (4.45566,4.52225);
% Draw Line: ownship:bng_15
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (3.99465,4.71315);
% Draw Line: ownship:bng_60
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (5.15528,3.82263);
% Draw Line: ownship:bng_75
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (5.34618,3.36162);
% Draw Line: ownship:bng_90
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (5.41131,2.86697);
% Draw Line: ownship:bng_105
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (5.34618,2.37232);
% Draw Line: ownship:bng_120
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (5.15528,1.91131);
% Draw Line: ownship:bng_135
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (4.85153,1.51544);
% Draw Line: ownship:bng_150
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (4.45566,1.2117);
% Draw Line: ownship:bng_165
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (3.99465,1.0208);
% Draw Line: ownship:bng_45
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (4.85153,4.2185);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(3.99401,0.822598) -- (3.94518,1.20526) -- (4.09422,0.849449);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(3.99401,0.822598) .. controls (3.88576,1.04093) .. (3.94518,1.20526);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(4.09422,0.849449) .. controls (4.0788,1.09266) .. (3.94518,1.20526);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(3.99401,0.822598) -- (4.09422,0.849449);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(4.5063,1.02031) -- (4.36009,1.3773) -- (4.59615,1.07219);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(4.5063,1.02031) .. controls (4.34523,1.20319) .. (4.36009,1.3773);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(4.59615,1.07219) .. controls (4.5183,1.30312) .. (4.36009,1.3773);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(4.5063,1.02031) -- (4.59615,1.07219);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(4.95015,1.34346) -- (4.71653,1.65044) -- (5.02351,1.41682);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(4.95015,1.34346) .. controls (4.74724,1.47842) .. (4.71653,1.65044);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(5.02351,1.41682) .. controls (4.88855,1.61973) .. (4.71653,1.65044);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(4.95015,1.34346) -- (5.02351,1.41682);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(5.29479,1.77083) -- (4.98967,2.00688) -- (5.34666,1.86067);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(5.29479,1.77083) .. controls (5.06386,1.84867) .. (4.98967,2.00688);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(5.34666,1.86067) .. controls (5.16378,2.02174) .. (4.98967,2.00688);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.29479,1.77083) -- (5.34666,1.86067);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(5.51752,2.27275) -- (5.16171,2.42179) -- (5.54437,2.37296);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(5.51752,2.27275) .. controls (5.27431,2.28817) .. (5.16171,2.42179);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(5.54437,2.37296) .. controls (5.32604,2.48121) .. (5.16171,2.42179);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.51752,2.27275) -- (5.54437,2.37296);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(5.60245,2.8151) -- (5.22018,2.86697) -- (5.60245,2.91885);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(5.60245,2.8151) .. controls (5.36353,2.76705) .. (5.22018,2.86697);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(5.60245,2.91885) .. controls (5.36353,2.9669) .. (5.22018,2.86697);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.60245,2.8151) -- (5.60245,2.91885);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(4.09422,4.8845) -- (3.94518,4.52868) -- (3.99401,4.91135);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(4.09422,4.8845) .. controls (4.0788,4.64129) .. (3.94518,4.52868);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(3.99401,4.91135) .. controls (3.88576,4.69301) .. (3.94518,4.52868);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(4.09422,4.8845) -- (3.99401,4.91135);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(5.54437,3.36098) -- (5.16171,3.31215) -- (5.51752,3.46119);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(5.54437,3.36098) .. controls (5.32604,3.25273) .. (5.16171,3.31215);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(5.51752,3.46119) .. controls (5.27431,3.44577) .. (5.16171,3.31215);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.54437,3.36098) -- (5.51752,3.46119);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(1.39755,2.91885) -- (1.77982,2.86697) -- (1.39755,2.8151);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(1.39755,2.91885) .. controls (1.63647,2.9669) .. (1.77982,2.86697);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(1.39755,2.8151) .. controls (1.63647,2.76705) .. (1.77982,2.86697);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(1.39755,2.91885) -- (1.39755,2.8151);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(1.65334,1.86067) -- (2.01033,2.00688) -- (1.70521,1.77083);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(1.65334,1.86067) .. controls (1.83622,2.02174) .. (2.01033,2.00688);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(1.70521,1.77083) .. controls (1.93614,1.84867) .. (2.01033,2.00688);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(1.65334,1.86067) -- (1.70521,1.77083);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(3.44813,0.764526) -- (3.5,1.14679) -- (3.55187,0.764526);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(3.44813,0.764526) .. controls (3.40008,1.00344) .. (3.5,1.14679);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(3.55187,0.764526) .. controls (3.59992,1.00344) .. (3.5,1.14679);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(3.44813,0.764526) -- (3.55187,0.764526);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(1.48248,3.46119) -- (1.83829,3.31215) -- (1.45563,3.36098);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(1.48248,3.46119) .. controls (1.72569,3.44577) .. (1.83829,3.31215);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(1.45563,3.36098) .. controls (1.67396,3.25273) .. (1.83829,3.31215);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(1.48248,3.46119) -- (1.45563,3.36098);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(1.70521,3.96312) -- (2.01033,3.72706) -- (1.65334,3.87327);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(1.70521,3.96312) .. controls (1.93614,3.88527) .. (2.01033,3.72706);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(1.65334,3.87327) .. controls (1.83622,3.7122) .. (2.01033,3.72706);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(1.70521,3.96312) -- (1.65334,3.87327);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(2.90578,0.849449) -- (3.05482,1.20526) -- (3.00599,0.822598);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(2.90578,0.849449) .. controls (2.9212,1.09266) .. (3.05482,1.20526);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(3.00599,0.822598) .. controls (3.11424,1.04093) .. (3.05482,1.20526);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(2.90578,0.849449) -- (3.00599,0.822598);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(2.40385,1.07219) -- (2.63991,1.3773) -- (2.4937,1.02031);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(2.40385,1.07219) .. controls (2.4817,1.30312) .. (2.63991,1.3773);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(2.4937,1.02031) .. controls (2.65477,1.20319) .. (2.63991,1.3773);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(2.40385,1.07219) -- (2.4937,1.02031);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(5.34666,3.87327) -- (4.98967,3.72706) -- (5.29479,3.96312);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(5.34666,3.87327) .. controls (5.16378,3.7122) .. (4.98967,3.72706);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(5.29479,3.96312) .. controls (5.06386,3.88527) .. (4.98967,3.72706);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.34666,3.87327) -- (5.29479,3.96312);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(5.02351,4.31713) -- (4.71653,4.0835) -- (4.95015,4.39048);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(5.02351,4.31713) .. controls (4.88855,4.11421) .. (4.71653,4.0835);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(4.95015,4.39048) .. controls (4.74724,4.25552) .. (4.71653,4.0835);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.02351,4.31713) -- (4.95015,4.39048);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(1.97649,1.41682) -- (2.28347,1.65044) -- (2.04985,1.34346);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(1.97649,1.41682) .. controls (2.11145,1.61973) .. (2.28347,1.65044);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(2.04985,1.34346) .. controls (2.25276,1.47842) .. (2.28347,1.65044);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(1.97649,1.41682) -- (2.04985,1.34346);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(3.5562,4.96819) -- (3.49566,4.58721) -- (3.45248,4.97055);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(3.5562,4.96819) .. controls (3.59881,4.72825) .. (3.49566,4.58721);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(3.45248,4.97055) .. controls (3.39902,4.73278) .. (3.49566,4.58721);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(3.5562,4.96819) -- (3.45248,4.97055);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(4.59615,4.66176) -- (4.36009,4.35665) -- (4.5063,4.71363);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(4.59615,4.66176) .. controls (4.5183,4.43083) .. (4.36009,4.35665);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(4.5063,4.71363) .. controls (4.34523,4.53075) .. (4.36009,4.35665);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(4.59615,4.66176) -- (4.5063,4.71363);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(3.00599,4.91135) -- (3.05482,4.52868) -- (2.90578,4.8845);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(3.00599,4.91135) .. controls (3.11424,4.69301) .. (3.05482,4.52868);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(2.90578,4.8845) .. controls (2.9212,4.64129) .. (3.05482,4.52868);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(3.00599,4.91135) -- (2.90578,4.8845);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(2.4937,4.71363) -- (2.63991,4.35665) -- (2.40385,4.66176);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(2.4937,4.71363) .. controls (2.65477,4.53075) .. (2.63991,4.35665);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(2.40385,4.66176) .. controls (2.4817,4.43083) .. (2.63991,4.35665);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(2.4937,4.71363) -- (2.40385,4.66176);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(1.45563,2.37296) -- (1.83829,2.42179) -- (1.48248,2.27275);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(1.45563,2.37296) .. controls (1.67396,2.48121) .. (1.83829,2.42179);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(1.48248,2.27275) .. controls (1.72569,2.28817) .. (1.83829,2.42179);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(1.45563,2.37296) -- (1.48248,2.27275);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(2.04985,4.39048) -- (2.28347,4.0835) -- (1.97649,4.31713);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(2.04985,4.39048) .. controls (2.25276,4.25552) .. (2.28347,4.0835);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(1.97649,4.31713) .. controls (2.11145,4.11421) .. (2.28347,4.0835);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(2.04985,4.39048) -- (1.97649,4.31713);
% Draw Point: ownship:ship_ctr
\draw [color=black,fill=black, thin] 
(3.5,4.77829) circle (0.02cm);
% Draw Point: contact:ship_ctr
\draw [color=black,fill=black, thin] 
(3.5,2.86697) circle (0.02cm);
% Draw Line: ownship:bng_270
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (1.58869,2.86697);
% Draw Line: ownship:bng_285
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (1.65382,3.36162);
% Draw Line: ownship:bng_300
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (1.84472,3.82263);
% Draw Line: ownship:bng_315
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (2.14847,4.2185);
% Draw Line: ownship:bng_330
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (2.54434,4.52225);
% Draw Line: ownship:bng_345
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (3.00535,4.71315);
% Draw Line: ownship:bng_180
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (3.5,0.955657);
% Draw Line: ownship:bng_225
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (2.14847,1.51544);
% Draw Line: ownship:bng_210
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (2.54434,1.2117);
% Draw Line: ownship:bng_255
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (1.65382,2.37232);
% Draw Line: ownship:bng_240
\draw [color=gray60, dotted, thin] 
(3.5,2.86697) -- (1.84472,1.91131);
\end{tikzpicture}  
