\begin{tikzpicture}           
% Grid
\draw [rounded corners,menublue,fill=gray99, ultra thin]
(0,2) -- (0,0) -- (3.75,0) -- (3.75,4) -- (0,4) -- (0,2);
\draw [color=gray95, thin] (1.875,0) -- (1.875,4);
\draw [color=gray95, thin] (2.41071,0) -- (2.41071,4);
\draw [color=gray95, thin] (2.94643,0) -- (2.94643,4);
\draw [color=gray95, thin] (3.48214,0) -- (3.48214,4);
\draw [color=gray95, thin] (1.33929,0) -- (1.33929,4);
\draw [color=gray95, thin] (0.803571,0) -- (0.803571,4);
\draw [color=gray95, thin] (0.267857,0) -- (0.267857,4);
\draw [color=gray95, thin] (0,2) -- (3.75,2);
\draw [color=gray95, thin] (0,2.53571) -- (3.75,2.53571);
\draw [color=gray95, thin] (0,3.07143) -- (3.75,3.07143);
\draw [color=gray95, thin] (0,3.60714) -- (3.75,3.60714);
\draw [color=gray95, thin] (0,1.46429) -- (3.75,1.46429);
\draw [color=gray95, thin] (0,0.928571) -- (3.75,0.928571);
\draw [color=gray95, thin] (0,0.392857) -- (3.75,0.392857);
% Grid
\draw [rounded corners,menublue, ultra thin]
(0,2) -- (0,0) -- (3.75,0) -- (3.75,4) -- (0,4) -- (0,2);

% Draw Circle: contact:range
\draw [color=darkblue, very thin] 
(1.875,2.10714) circle (1.71429cm);

% Draw Wedge: contact:twedge
\draw [color=black,fill=gray95, very thin] 
(1.875,2.10714) -- (0.291207,1.45111) arc (202.5:337.5:1.71429) -- (1.875,2.10714) arc (337.5:202.5:0) -- cycle;
% Draw Wedge: contact:minus_67
\draw [color=gray60, very thin] 
(0.687155,1.61512) -- (0.687155,1.61512) arc (202.5:337.5:1.28571) -- (3.06285,1.61512) arc (337.5:202.5:1.28571) -- cycle;
% Text Label
\draw [color=black] (2.94643,0.178571) node {\scriptsize
ownship
};

% Text Label
\draw [color=black] (2.83929,2.32143) node {\scriptsize
contact
};

% Text Label
\draw [color=black] (2.30357,1.46429) node {\tiny
$67.5^{\circ}$
};

% Text Label
\draw [color=black] (1.44643,1.46429) node {\tiny
$67.5^{\circ}$
};

% Text Label
\draw [color=black] (0.696429,0.285714) node {\scriptsize
Case B
};

% Ship drawing: inside triangle
\draw [color=gray90, fill=gray90, ultra thin] 
(1.81393,1.88214) -- (1.875,2.33214) -- (1.93607,1.88214);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(1.81393,1.88214) .. controls (1.7625,2.16339) .. (1.875,2.33214);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(1.93607,1.88214) .. controls (1.9875,2.16339) .. (1.875,2.33214);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(1.81393,1.88214) -- (1.93607,1.88214);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(3.20285,0.428061) -- (2.86926,0.736198) -- (3.27291,0.528115);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(3.20285,0.428061) .. controls (2.94002,0.543039) .. (2.86926,0.736198);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(3.27291,0.528115) .. controls (3.07497,0.735774) .. (2.86926,0.736198);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(3.20285,0.428061) -- (3.27291,0.528115);
% Draw Point: ownship:ship_ctr
\draw [color=black,fill=black, thin] 
(3.05357,0.607143) circle (0.02cm);
% Draw Point: contact:ship_ctr
\draw [color=black,fill=black, thin] 
(1.875,2.10714) circle (0.02cm);
% Draw Line: ownship:cn_north
\draw [color=gray25, ->, thin] 
(1.875,2.10714) -- (1.875,3.71429);
% Draw Line: contact:cn_trail
\draw [color=gray25, dotted, thin] 
(1.875,2.10714) -- (1.875,0.392857);
% Draw Line: ownship:os_velocity
\draw [color=gray25, ->, thin] 
(3.05357,0.607143) -- (2.61471,0.914429);
\end{tikzpicture}  
