grid = key=master,group=grid,depth=1,widthcm=14,heightcm=6,gcell=5,    \
       rounded=true,border_thickness=ultra thin,border_color=menublue, \
       gback_color=gray99,gline_thickness=thin,gline_color=gray95
 
label = key=ship_label,group=ownship,depth=205,label=ownship, \
        label_color=black,label_size=footnotesize,x=-20,y=-13
 
label = key=ship_label,group=contact,depth=205,label=contact,  \
        label_color=black,label_size=footnotesize,x=28.2,y=-12
 
vessel = key=mainship,group=ownship,depth=900,x=-20,y=0,hdg=0,     \
         body_type=kayak,length=22,wid_mbody=11.5,wid_stern=5.973, \
         pct_mbody=0.5,line_color=black,fill_color=gray90
 
vessel = key=mainship,group=contact,depth=900,x=28.2,y=0,hdg=45, \
         body_type=kayak,length=22,wid_mbody=11,wid_stern=5.973, \
         pct_mbody=0.5,line_color=black,fill_color=gray90
 
point = key=ship_ctr,group=ownship,depth=904,x=-20,y=0,point_size=0.05, \
        point_color=black
 
point = key=ship_ctr,group=contact,depth=904,x=28.2,y=0, \
        point_size=0.05,point_color=black
 
line = key=north_line,group=ownship,depth=905,x1=-20,y1=0,x2=-20,y2=15, \
       line_color=gray25,line_style=solid,line_thickness=thick,         \
       endtype2=arrow
 
line = key=northeast_line,group=contact,depth=905,x1=28.2,y1=0, \
       x2=38.807,y2=10.607,line_color=gray25,line_style=solid,  \
       line_thickness=thick,endtype2=arrow
 
label = key=ship_position,group=ownship,depth=905,    \
        label={$x_{os}$, $y_{os}$},label_color=black, \
        label_size=footnotesize,x=-20,y=-1.8
 
label = key=ship_position,group=contact,depth=905,    \
        label={$x_{cn}$, $y_{cn}$},label_color=black, \
        label_size=footnotesize,x=26.9,y=-1.7
 
label = key=ownship_pose,group=ownship,depth=905,          \
        label={$\theta_{os}$, $v_{os}$},label_color=black, \
        label_size=footnotesize,x=-15,y=12.5
 
label = key=contact_pose,group=contact,depth=905,          \
        label={$\theta_{cn}$, $v_{cn}$},label_color=black, \
        label_size=footnotesize,x=32.2,y=12