\begin{tikzpicture}           
% Grid
\draw [rounded corners,menublue,fill=gray99, ultra thin]
(0,3) -- (0,0) -- (14,0) -- (14,6) -- (0,6) -- (0,3);
\draw [color=gray95, thin] (7,0) -- (7,6);
\draw [color=gray95, thin] (7.47619,0) -- (7.47619,6);
\draw [color=gray95, thin] (7.95238,0) -- (7.95238,6);
\draw [color=gray95, thin] (8.42857,0) -- (8.42857,6);
\draw [color=gray95, thin] (8.90476,0) -- (8.90476,6);
\draw [color=gray95, thin] (9.38095,0) -- (9.38095,6);
\draw [color=gray95, thin] (9.85714,0) -- (9.85714,6);
\draw [color=gray95, thin] (10.3333,0) -- (10.3333,6);
\draw [color=gray95, thin] (10.8095,0) -- (10.8095,6);
\draw [color=gray95, thin] (11.2857,0) -- (11.2857,6);
\draw [color=gray95, thin] (11.7619,0) -- (11.7619,6);
\draw [color=gray95, thin] (12.2381,0) -- (12.2381,6);
\draw [color=gray95, thin] (12.7143,0) -- (12.7143,6);
\draw [color=gray95, thin] (13.1905,0) -- (13.1905,6);
\draw [color=gray95, thin] (13.6667,0) -- (13.6667,6);
\draw [color=gray95, thin] (6.52381,0) -- (6.52381,6);
\draw [color=gray95, thin] (6.04762,0) -- (6.04762,6);
\draw [color=gray95, thin] (5.57143,0) -- (5.57143,6);
\draw [color=gray95, thin] (5.09524,0) -- (5.09524,6);
\draw [color=gray95, thin] (4.61905,0) -- (4.61905,6);
\draw [color=gray95, thin] (4.14286,0) -- (4.14286,6);
\draw [color=gray95, thin] (3.66667,0) -- (3.66667,6);
\draw [color=gray95, thin] (3.19048,0) -- (3.19048,6);
\draw [color=gray95, thin] (2.71429,0) -- (2.71429,6);
\draw [color=gray95, thin] (2.2381,0) -- (2.2381,6);
\draw [color=gray95, thin] (1.7619,0) -- (1.7619,6);
\draw [color=gray95, thin] (1.28571,0) -- (1.28571,6);
\draw [color=gray95, thin] (0.809524,0) -- (0.809524,6);
\draw [color=gray95, thin] (0.333333,0) -- (0.333333,6);
\draw [color=gray95, thin] (0,3) -- (14,3);
\draw [color=gray95, thin] (0,3.47619) -- (14,3.47619);
\draw [color=gray95, thin] (0,3.95238) -- (14,3.95238);
\draw [color=gray95, thin] (0,4.42857) -- (14,4.42857);
\draw [color=gray95, thin] (0,4.90476) -- (14,4.90476);
\draw [color=gray95, thin] (0,5.38095) -- (14,5.38095);
\draw [color=gray95, thin] (0,5.85714) -- (14,5.85714);
\draw [color=gray95, thin] (0,2.52381) -- (14,2.52381);
\draw [color=gray95, thin] (0,2.04762) -- (14,2.04762);
\draw [color=gray95, thin] (0,1.57143) -- (14,1.57143);
\draw [color=gray95, thin] (0,1.09524) -- (14,1.09524);
\draw [color=gray95, thin] (0,0.619048) -- (14,0.619048);
\draw [color=gray95, thin] (0,0.142857) -- (14,0.142857);
% Grid
\draw [rounded corners,menublue, ultra thin]
(0,3) -- (0,0) -- (14,0) -- (14,6) -- (0,6) -- (0,3);


% Draw Wedge: ownship:twedge
\draw [color=black, very thin] 
(8.82984,3.73459) -- (8.82984,3.73459) arc (45:135:2.85714) -- (4.78923,3.73459) arc (135:45:2.85714) -- cycle;
% Draw Wedge: ownship:twedge_copy
\draw [color=black, very thin] 
(8.29109,3.19584) -- (8.29109,3.19584) arc (45:90:2.09524) -- (6.80953,3.80952) arc (90:45:2.09524) -- cycle;
% Text Label
\draw [color=black] (6.80953,0.952381) node {\footnotesize
ownship
};

% Text Label
\draw [color=black] (9.09525,4.38095) node {\footnotesize
contact
};

% Text Label
\draw [color=black] (6.80953,5.04762) node {\tiny
North
};

% Ship drawing: inside triangle
\draw [color=gray90, fill=gray90, ultra thin] 
(8.52985,3.56256) -- (9.06524,3.96999) -- (8.65781,3.43461);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(8.52985,3.56256) .. controls (8.77061,3.91106) .. (9.06524,3.96999);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(8.65781,3.43461) .. controls (9.00631,3.67536) .. (9.06524,3.96999);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(8.52985,3.56256) -- (8.65781,3.43461);
% Ship drawing: inside triangle
\draw [color=gray90, fill=gray90, ultra thin] 
(6.98126,1.41461) -- (6.57383,1.94999) -- (7.10921,1.54256);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(6.98126,1.41461) .. controls (6.6274,1.65001) .. (6.57383,1.94999);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(7.10921,1.54256) .. controls (6.87381,1.89642) .. (6.57383,1.94999);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(6.98126,1.41461) -- (7.10921,1.54256);
% Draw Point: ownship:ship_ctr
\draw [color=black,fill=black, thin] 
(6.80953,1.71429) circle (0.03cm);
% Draw Point: contact:ship_ctr
\draw [color=black,fill=black, thin] 
(8.82982,3.73457) circle (0.03cm);
% Draw Line: ownship:northwest_line
\draw [color=gray25, dashed, ->, very thin] 
(6.80953,1.71429) -- (4.78925,3.73457);
% Draw Line: ownship:north_east_line
\draw [color=gray25, dashed, ->, very thin] 
(6.80953,1.71429) -- (8.82982,3.73457);
% Draw Line: ownship:line_north
\draw [color=gray25, ->, very thin] 
(6.80953,1.71429) -- (6.80953,4.85714);
% Draw Line: ownship:range_line
\draw [color=gray25, |-|, very thin] 
(7.19049,1.33333) -- (9.21077,3.35362);
% Text Label
\draw [color=black] (5.19049,4.66667) node {\footnotesize
$relbng^{os}_{cn}$ or $\beta$
};

% Text Label
\draw [color=black] (7.57144,3.95238) node {\footnotesize
$bng^{os}_{cn}$
};

% Text Label
\draw [color=black] (8.7143,2.19048) node {\footnotesize
$range$
};

\end{tikzpicture}  
