grid = key=master,group=grid,depth=1,widthcm=15,heightcm=11,gcell=10, \
xmarg=6,ymarg=6,shrink=false,rounded=true, \
border_thickness=very thin,border_color=menublue, \
gback_color=gray99,gline_thickness=thin,gline_color=gray96
circle = key=range,group=contact,depth=2,x=0,y=0,radius=25, \
line_color=darkblue,fill_color=invisible,line_style=solid, \
line_thickness=ultra thin
panel = key=panel1_initial_pose,group=panels,depth=11,x=20,y=49, \
widthcm=7.3,heightcm=1,rounded=true,border_thickness=thin, \
border_color=gray40,panel_color=beige
panel = key=panel2_theta_gam,group=panels,depth=12,x=40,y=22, \
widthcm=5.3,heightcm=2.1,rounded=true,border_thickness=thin, \
border_color=gray35,panel_color=beige
panel = key=panel3_gamma_ranges,group=panels,depth=13,x=40,y=-8.5, \
widthcm=5.3,heightcm=2.4,rounded=true,border_thickness=thin, \
border_color=gray35,panel_color=beige
label = key=ownship_and_contact,group=right_side,depth=81, \
label=macro:macro1_init_pos,label_color=black, \
label_size=scriptsize,x=58,y=54
label = key=theta_gam_vgam,group=right_side,depth=82, \
label=macro:macro2_range_bng,label_color=black, \
label_size=scriptsize,x=70,y=33
label = key=gamma_ranges,group=right_side,depth=83, \
label=macro:macro3_gamma_ranges,label_color=black, \
label_size=scriptsize,x=70,y=4
line = key=range_gamma_prime,group=gamma,depth=100,x1=6.3,y1=26.5, \
x2=16.447,y2=16.353,line_color=gray50,line_style=solid, \
line_thickness=very thin,endtype1=flat,endtype2=flat
label = key=range_gamma,group=contact,depth=100,label=$r_{\gamma}$, \
label_color=black,label_size=scriptsize,x=11,y=2
\begin{macro}[macro1_init_pos][macros]
$\begin{aligned}
x_{os} &= 0, & y_{os} &=0, & \theta_{os} &=340, & v_{os} &= 8 \\
x_{cn} &= 43.4, & y_{cn} &=246.2, & \theta_{cn} &=315, & v_{cn} &= 1.5
\end{aligned}$
\end{macro}
\begin{macro}[macro2_range_bng][macros]
$\begin{aligned}
\theta^{os}_{\gamma} &= [\theta_{cn} + 90]^{^{360}} = 45 \\
v^{os}_{\gamma} &= cos(\theta^{os}_{\gamma} - \theta_{os}) \cdot v_{os} \\
&= cos(65) \cdot 8 = 3.38 m/s \\
\theta^{os}_{\gamma} &= [\theta_{cn} + 90]^{^{360}} = 45 \\
v^{os}_{\epsilon} &= cos(\theta_{os}-\theta_{cn}) \cdot v_{os} \\
&= cos(25) \cdot 8 = 7.25 \\
\end{aligned}$
\end{macro}
\begin{macro}[macro3_gamma_ranges][macros]
$\begin{aligned}
r &= 250 \\
bng^{os}_{cn} &= 10 \\
r_{\gamma} &= cos(\theta^{os}_{\gamma} - bng^{os}_{cn}) \cdot r \\
&= cos(35) \cdot 250 = 204.788 m \\
r_{\epsilon} &= sin(\theta^{os}_{\gamma} - bng^{os}_{cn}) \cdot r \\
&= sin(35) \cdot 250 = 143.394 m
\end{aligned}$
\end{macro}
swarmpath = key=,group=,depth=100,begtime=0,endtime=0,nowtime=0
vessel = key=ownship,group=ownship,depth=100,x=0,y=0,hdg=340, \
body_type=,length=4,wid_mbody=2,wid_stern=1.086,pct_mbody=0.5, \
line_color=black,line_thickness=ultra thin,fill_color=white
label = key=ownship_label,group=ownship,depth=100,label=ownship, \
label_color=black,label_size=tiny,x=-10,y=0
label = key=contact_hdg_spd,group=contact,depth=100, \
label={$\theta_{cn}, v_{cn}$},label_color=black, \
label_size=scriptsize,x=-4,y=30
line = key=range_gamma_line,group=gamma,depth=100,x1=2,y1=-2,x2=16.496, \
y2=12.496,line_color=gray50,line_style=solid, \
line_thickness=very thin,endtype1=flat,endtype2=flat
label = key=ownship_hdg_spd,group=ownship,depth=100, \
label={$\theta_{os}, v_{os}$},label_color=black, \
label_size=scriptsize,x=-11,y=5
line = key=theta_epsilon,group=epsilon,depth=100,x1=0,y1=0,x2=-21.213, \
y2=21.213,line_color=gray50,line_style=solid, \
line_thickness=very thin,endtype2=arrow
label = key=range_epsilon,group=contact,depth=100,label=$r_{\epsilon}$, \
label_color=black,label_size=scriptsize,x=13,y=24
label = key=tangent_theta,group=ownship,depth=100, \
label=$\theta^{os}_{\gamma}$,label_color=black, \
label_size=scriptsize,x=24,y=22
label = key=range_os_cnh,group=ownship,depth=100, \
label={$\theta^{os}_{\epsilon}$},label_color=black, \
label_size=scriptsize,x=-20,y=25
label = key=contact_label,group=contact,depth=100,label=contact, \
label_color=black,label_size=tiny,x=-2,y=22
line = key=panel2_3,group=right_side,depth=101,x1=65,y1=22,x2=65,y2=17, \
line_color=black,line_style=solid,line_thickness=thick, \
endtype2=arrow
line = key=panel1_2,group=right_side,depth=101,x1=65,y1=49,x2=65,y2=44, \
line_color=black,line_style=solid,line_thickness=thick, \
endtype2=arrow
vessel = key=contact,group=contact,depth=900,x=4.34,y=24.62,hdg=315, \
body_type=kayak,length=4,wid_mbody=2,wid_stern=1.086, \
pct_mbody=0.5,line_color=black,line_thickness=ultra thin, \
fill_color=beige
point = key=ship_ctr_ownship,group=ownship,depth=904,x=0,y=0, \
point_size=0.02,point_color=black
point = key=bogus_right_bottom,group=bogus,depth=904,x=90,y=-44, \
point_size=0.001,point_color=white
point = key=bogus_right,group=bogus,depth=904,x=95,y=0, \
point_size=0.001,point_color=white
point = key=ship_ctr_contact,group=contact,depth=904,x=4.34,y=24.62, \
point_size=0.02,point_color=black
line = key=range_line,group=ownship_contact,depth=920,x1=0,y1=0, \
x2=4.341,y2=24.62,line_color=gray25,line_style=dotted, \
line_thickness=thin
line = key=contact_trail,group=contact,depth=920,x1=4.34,y1=24.658, \
x2=19.896,y2=9.102,line_color=gray50,line_style=dotted, \
line_thickness=thin
line = key=contact_heading,group=contact,depth=920,x1=4.34,y1=24.62, \
x2=0.804,y2=28.156,line_color=gray10,line_style=solid, \
line_thickness=semithick,endtype2=arrow
line = key=theta_gamma,group=ownship_contact,depth=920,x1=0,y1=0, \
x2=21.213,y2=21.213,line_color=gray60,line_style=solid, \
line_thickness=thin,endtype2=arrow
line = key=ownship_heading,group=ownship,depth=920,x1=0,y1=0,x2=-3.42, \
y2=9.397,line_color=gray10,line_style=solid, \
line_thickness=semithick,endtype2=arrow