\begin{tikzpicture}           
% Grid
\draw [rounded corners,menublue,fill=gray99, very thin]
(0,5.5) -- (0,0) -- (15,0) -- (15,11) -- (0,11) -- (0,5.5);
\draw [color=gray96, thin] (7.5,0) -- (7.5,11);
\draw [color=gray96, thin] (8.5,0) -- (8.5,11);
\draw [color=gray96, thin] (9.5,0) -- (9.5,11);
\draw [color=gray96, thin] (10.5,0) -- (10.5,11);
\draw [color=gray96, thin] (11.5,0) -- (11.5,11);
\draw [color=gray96, thin] (12.5,0) -- (12.5,11);
\draw [color=gray96, thin] (13.5,0) -- (13.5,11);
\draw [color=gray96, thin] (14.5,0) -- (14.5,11);
\draw [color=gray96, thin] (6.5,0) -- (6.5,11);
\draw [color=gray96, thin] (5.5,0) -- (5.5,11);
\draw [color=gray96, thin] (4.5,0) -- (4.5,11);
\draw [color=gray96, thin] (3.5,0) -- (3.5,11);
\draw [color=gray96, thin] (2.5,0) -- (2.5,11);
\draw [color=gray96, thin] (1.5,0) -- (1.5,11);
\draw [color=gray96, thin] (0.5,0) -- (0.5,11);
\draw [color=gray96, thin] (0,5.5) -- (15,5.5);
\draw [color=gray96, thin] (0,6.5) -- (15,6.5);
\draw [color=gray96, thin] (0,7.5) -- (15,7.5);
\draw [color=gray96, thin] (0,8.5) -- (15,8.5);
\draw [color=gray96, thin] (0,9.5) -- (15,9.5);
\draw [color=gray96, thin] (0,10.5) -- (15,10.5);
\draw [color=gray96, thin] (0,4.5) -- (15,4.5);
\draw [color=gray96, thin] (0,3.5) -- (15,3.5);
\draw [color=gray96, thin] (0,2.5) -- (15,2.5);
\draw [color=gray96, thin] (0,1.5) -- (15,1.5);
\draw [color=gray96, thin] (0,0.5) -- (15,0.5);
% Grid
\draw [rounded corners,menublue, very thin]
(0,5.5) -- (0,0) -- (15,0) -- (15,11) -- (0,11) -- (0,5.5);

% Draw Circle: contact:range
\draw [color=darkblue, ultra thin] 
(4,5) circle (2.5cm);
% Panel
\draw [rounded corners,gray40,fill=beige, thin]
(6,10.4) -- (6,9.9) -- (13.3,9.9) -- (13.3,10.9) -- (6,10.9) -- (6,10.4);

% Panel
\draw [rounded corners,gray35,fill=beige, thin]
(8,8.25) -- (8,7.2) -- (13.3,7.2) -- (13.3,9.3) -- (8,9.3) -- (8,8.25);

% Panel
\draw [rounded corners,gray35,fill=beige, thin]
(8,5.35) -- (8,4.15) -- (13.3,4.15) -- (13.3,6.55) -- (8,6.55) -- (8,5.35);

% Text Label
\draw [color=black] (9.8,10.4) node {\scriptsize
$\begin{aligned}
x_{os} &= 0,   & y_{os} &=0,      & \theta_{os} &=340, & v_{os} &= 8 \\
x_{cn} &= 43.4, & y_{cn} &=246.2, & \theta_{cn} &=315, & v_{cn} &= 1.5
\end{aligned}$
};

% Text Label
\draw [color=black] (11,8.3) node {\scriptsize
$\begin{aligned}
\theta^{os}_{\gamma} &= [\theta_{cn} + 90]^{^{360}} = 45   \\
v^{os}_{\gamma}      &= cos(\theta^{os}_{\gamma} - \theta_{os}) \cdot v_{os} \\
&= cos(65) \cdot 8 = 3.38 m/s \\
\theta^{os}_{\gamma} &= [\theta_{cn} + 90]^{^{360}} = 45   \\
v^{os}_{\epsilon} &= cos(\theta_{os}-\theta_{cn}) \cdot v_{os} \\
&= cos(25) \cdot 8 = 7.25 \\
\end{aligned}$
};

% Text Label
\draw [color=black] (11,5.4) node {\scriptsize
$\begin{aligned}
r &= 250 \\
bng^{os}_{cn} &= 10 \\
r_{\gamma} &= cos(\theta^{os}_{\gamma} - bng^{os}_{cn}) \cdot r \\
&= cos(35) \cdot 250 = 204.788 m                                 \\
r_{\epsilon} &= sin(\theta^{os}_{\gamma} - bng^{os}_{cn}) \cdot r \\
&= sin(35) \cdot 250 = 143.394 m
\end{aligned}$
};

% Draw Line: epsilon:theta_epsilon
\draw [color=gray50, ->, very thin] 
(4,5) -- (1.8787,7.1213);

% Draw Line: gamma:range_gamma_line
\draw [color=gray50, |-|, very thin] 
(4.2,4.8) -- (5.6496,6.2496);
% Draw Line: gamma:range_gamma_prime
\draw [color=gray50, |-|, very thin] 
(4.63,7.65) -- (5.6447,6.6353);
% Text Label
\draw [color=black] (5.1,5.2) node {\scriptsize
$r_{\gamma}$
};

% Text Label
\draw [color=black] (3,5) node {\tiny
ownship
};

% Text Label
\draw [color=black] (3.6,8) node {\scriptsize
{$\theta_{cn}, v_{cn}$}
};

% Text Label
\draw [color=black] (2.9,5.5) node {\scriptsize
{$\theta_{os}, v_{os}$}
};

% Text Label
\draw [color=black] (5.3,7.4) node {\scriptsize
$r_{\epsilon}$
};

% Text Label
\draw [color=black] (6.4,7.2) node {\scriptsize
$\theta^{os}_{\gamma}$
};

% Text Label
\draw [color=black] (2,7.5) node {\scriptsize
{$\theta^{os}_{\epsilon}$}
};

% Text Label
\draw [color=black] (3.8,7.2) node {\tiny
contact
};

% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(4.01738,4.79349) -- (3.9316,5.18794) -- (4.11943,4.83063);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(4.01738,4.79349) .. controls (3.88893,5.01278) .. (3.9316,5.18794);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(4.11943,4.83063) .. controls (4.07687,5.08119) .. (3.9316,5.18794);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(4.01738,4.79349) -- (4.11943,4.83063);



% Draw Line: right_side:panel2_3
\draw [color=black, ->, thick] 
(10.5,7.2) -- (10.5,6.7);
% Draw Line: right_side:panel1_2
\draw [color=black, ->, thick] 
(10.5,9.9) -- (10.5,9.4);
% Ship drawing: inside triangle
\draw [color=beige, fill=beige, ultra thin] 
(4.53703,7.28218) -- (4.29258,7.60342) -- (4.61382,7.35897);
% Ship drawing: left side of bow 
\draw [color=black,fill=beige, ultra thin] 
(4.53703,7.28218) .. controls (4.32793,7.42664) .. (4.29258,7.60342);
% Ship drawing: right side of bow 
\draw [color=black,fill=beige, ultra thin] 
(4.61382,7.35897) .. controls (4.46936,7.56807) .. (4.29258,7.60342);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(4.53703,7.28218) -- (4.61382,7.35897);
% Draw Point: ownship:ship_ctr_ownship
\draw [color=black,fill=black, thin] 
(4,5) circle (0.02cm);
% Draw Point: bogus:bogus_right_bottom
\draw [color=white,fill=white, thin] 
(13,0.6) circle (0.001cm);
% Draw Point: contact:ship_ctr_contact
\draw [color=black,fill=black, thin] 
(4.434,7.462) circle (0.02cm);
% Draw Point: bogus:bogus_right
\draw [color=white,fill=white, thin] 
(13.5,5) circle (0.001cm);
% Draw Line: ownship_contact:range_line
\draw [color=gray25, dotted, thin] 
(4,5) -- (4.4341,7.462);
% Draw Line: contact:contact_trail
\draw [color=gray50, dotted, thin] 
(4.434,7.4658) -- (5.9896,5.9102);
% Draw Line: contact:contact_heading
\draw [color=gray10, ->, semithick] 
(4.434,7.462) -- (4.0804,7.8156);
% Draw Line: ownship_contact:theta_gamma
\draw [color=gray60, ->, thin] 
(4,5) -- (6.1213,7.1213);
% Draw Line: ownship:ownship_heading
\draw [color=gray10, ->, semithick] 
(4,5) -- (3.658,5.9397);
\end{tikzpicture}  
