\begin{tikzpicture}           
% Grid
\draw [rounded corners,menublue,fill=gray99, ultra thin]
(0,3) -- (0,0) -- (6,0) -- (6,6) -- (0,6) -- (0,3);
\draw [color=gray95, thin] (3,0) -- (3,6);
\draw [color=gray95, thin] (3.48387,0) -- (3.48387,6);
\draw [color=gray95, thin] (3.96774,0) -- (3.96774,6);
\draw [color=gray95, thin] (4.45161,0) -- (4.45161,6);
\draw [color=gray95, thin] (4.93548,0) -- (4.93548,6);
\draw [color=gray95, thin] (5.41935,0) -- (5.41935,6);
\draw [color=gray95, thin] (5.90323,0) -- (5.90323,6);
\draw [color=gray95, thin] (2.51613,0) -- (2.51613,6);
\draw [color=gray95, thin] (2.03226,0) -- (2.03226,6);
\draw [color=gray95, thin] (1.54839,0) -- (1.54839,6);
\draw [color=gray95, thin] (1.06452,0) -- (1.06452,6);
\draw [color=gray95, thin] (0.580645,0) -- (0.580645,6);
\draw [color=gray95, thin] (0.0967742,0) -- (0.0967742,6);
\draw [color=gray95, thin] (0,3) -- (6,3);
\draw [color=gray95, thin] (0,3.48387) -- (6,3.48387);
\draw [color=gray95, thin] (0,3.96774) -- (6,3.96774);
\draw [color=gray95, thin] (0,4.45161) -- (6,4.45161);
\draw [color=gray95, thin] (0,4.93548) -- (6,4.93548);
\draw [color=gray95, thin] (0,5.41935) -- (6,5.41935);
\draw [color=gray95, thin] (0,5.90323) -- (6,5.90323);
\draw [color=gray95, thin] (0,2.51613) -- (6,2.51613);
\draw [color=gray95, thin] (0,2.03226) -- (6,2.03226);
\draw [color=gray95, thin] (0,1.54839) -- (6,1.54839);
\draw [color=gray95, thin] (0,1.06452) -- (6,1.06452);
\draw [color=gray95, thin] (0,0.580645) -- (6,0.580645);
\draw [color=gray95, thin] (0,0.0967742) -- (6,0.0967742);
% Grid
\draw [rounded corners,menublue, ultra thin]
(0,3) -- (0,0) -- (6,0) -- (6,6) -- (0,6) -- (0,3);

% Draw Circle: contact:range
\draw [color=darkblue, very thin] 
(3,3.09677) circle (2.41935cm);

% Draw Wedge: contact:twedge
\draw [color=black,fill=gray95, very thin] 
(3,3.09677) -- (0.764808,2.17093) arc (202.5:337.5:2.41935) -- (3,3.09677) arc (337.5:202.5:0) -- cycle;
% Draw Wedge: contact:minus_67
\draw [color=gray60, very thin] 
(1.48007,2.4672) -- (1.48007,2.4672) arc (202.5:337.5:1.64516) -- (4.51993,2.4672) arc (337.5:202.5:1.64516) -- cycle;
% Text Label
\draw [color=black] (0.774194,0.870968) node {\scriptsize
ownship
};

% Text Label
\draw [color=black] (3.87097,3.29032) node {\scriptsize
contact
};

% Text Label
\draw [color=black] (3.67742,2.03226) node {\tiny
$67.5^{\circ}$
};

% Text Label
\draw [color=black] (2.51613,2.03226) node {\tiny
$67.5^{\circ}$
};

% Text Label
\draw [color=black] (3.87097,0.483871) node {\scriptsize
{case 1: Overtaking, Port}
};

% Ship drawing: inside triangle
\draw [color=gray90, fill=gray90, ultra thin] 
(2.93434,2.85484) -- (3,3.33871) -- (3.06566,2.85484);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(2.93434,2.85484) .. controls (2.87903,3.15726) .. (3,3.33871);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(3.06566,2.85484) .. controls (3.12097,3.15726) .. (3,3.33871);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(2.93434,2.85484) -- (3.06566,2.85484);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(1.74113,0.620282) -- (1.67932,1.10466) -- (1.86798,0.65427);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(1.74113,0.620282) .. controls (1.60411,0.896654) .. (1.67932,1.10466);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(1.86798,0.65427) .. controls (1.84846,0.962127) .. (1.67932,1.10466);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(1.74113,0.620282) -- (1.86798,0.65427);
% Draw Point: ownship:ship_ctr
\draw [color=black,fill=black, thin] 
(1.74194,0.870968) circle (0.02cm);
% Draw Point: contact:ship_ctr
\draw [color=black,fill=black, thin] 
(3,3.09677) circle (0.02cm);
% Draw Line: ownship:cn_north
\draw [color=gray25, ->, thin] 
(3,3.09677) -- (3,4.54839);
% Draw Line: ownship:cn_north_copy
\draw [color=gray25, dotted, thin] 
(3,3.09677) -- (3,0.677419);
\end{tikzpicture}  
