\begin{tikzpicture}           
% Grid
\draw [rounded corners,menublue,fill=gray99, very thin]
(0,3.5) -- (0,0) -- (13.5,0) -- (13.5,7) -- (0,7) -- (0,3.5);
\draw [color=gray90, very thin] (6.75,0) -- (6.75,7);
\draw [color=gray90, very thin] (7.46429,0) -- (7.46429,7);
\draw [color=gray90, very thin] (8.17857,0) -- (8.17857,7);
\draw [color=gray90, very thin] (8.89286,0) -- (8.89286,7);
\draw [color=gray90, very thin] (9.60714,0) -- (9.60714,7);
\draw [color=gray90, very thin] (10.3214,0) -- (10.3214,7);
\draw [color=gray90, very thin] (11.0357,0) -- (11.0357,7);
\draw [color=gray90, very thin] (11.75,0) -- (11.75,7);
\draw [color=gray90, very thin] (12.4643,0) -- (12.4643,7);
\draw [color=gray90, very thin] (13.1786,0) -- (13.1786,7);
\draw [color=gray90, very thin] (6.03571,0) -- (6.03571,7);
\draw [color=gray90, very thin] (5.32143,0) -- (5.32143,7);
\draw [color=gray90, very thin] (4.60714,0) -- (4.60714,7);
\draw [color=gray90, very thin] (3.89286,0) -- (3.89286,7);
\draw [color=gray90, very thin] (3.17857,0) -- (3.17857,7);
\draw [color=gray90, very thin] (2.46429,0) -- (2.46429,7);
\draw [color=gray90, very thin] (1.75,0) -- (1.75,7);
\draw [color=gray90, very thin] (1.03571,0) -- (1.03571,7);
\draw [color=gray90, very thin] (0.321429,0) -- (0.321429,7);
\draw [color=gray90, very thin] (0,3.5) -- (13.5,3.5);
\draw [color=gray90, very thin] (0,4.21429) -- (13.5,4.21429);
\draw [color=gray90, very thin] (0,4.92857) -- (13.5,4.92857);
\draw [color=gray90, very thin] (0,5.64286) -- (13.5,5.64286);
\draw [color=gray90, very thin] (0,6.35714) -- (13.5,6.35714);
\draw [color=gray90, very thin] (0,2.78571) -- (13.5,2.78571);
\draw [color=gray90, very thin] (0,2.07143) -- (13.5,2.07143);
\draw [color=gray90, very thin] (0,1.35714) -- (13.5,1.35714);
\draw [color=gray90, very thin] (0,0.642857) -- (13.5,0.642857);
% Grid
\draw [rounded corners,menublue, very thin]
(0,3.5) -- (0,0) -- (13.5,0) -- (13.5,7) -- (0,7) -- (0,3.5);


% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(7.62214,3.5212) -- (7.19357,3.57938) -- (7.62214,3.63756);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(7.62214,3.5212) .. controls (7.35429,3.47223) .. (7.19357,3.57938);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(7.62214,3.63756) .. controls (7.35429,3.68652) .. (7.19357,3.57938);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(7.62214,3.5212) -- (7.62214,3.63756);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(7.19357,3.5212) -- (6.765,3.57938) -- (7.19357,3.63756);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(7.19357,3.5212) .. controls (6.92571,3.47223) .. (6.765,3.57938);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(7.19357,3.63756) .. controls (6.92571,3.68652) .. (6.765,3.57938);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(7.19357,3.5212) -- (7.19357,3.63756);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(6.765,3.5212) -- (6.33643,3.57938) -- (6.765,3.63756);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(6.765,3.5212) .. controls (6.49714,3.47223) .. (6.33643,3.57938);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(6.765,3.63756) .. controls (6.49714,3.68652) .. (6.33643,3.57938);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(6.765,3.5212) -- (6.765,3.63756);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(6.33643,3.5212) -- (5.90786,3.57938) -- (6.33643,3.63756);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(6.33643,3.5212) .. controls (6.06857,3.47223) .. (5.90786,3.57938);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(6.33643,3.63756) .. controls (6.06857,3.68652) .. (5.90786,3.57938);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(6.33643,3.5212) -- (6.33643,3.63756);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(5.90786,3.5212) -- (5.47929,3.57938) -- (5.90786,3.63756);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(5.90786,3.5212) .. controls (5.64,3.47223) .. (5.47929,3.57938);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(5.90786,3.63756) .. controls (5.64,3.68652) .. (5.47929,3.57938);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.90786,3.5212) -- (5.90786,3.63756);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(5.48,3.5212) -- (5.05143,3.57938) -- (5.48,3.63756);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(5.48,3.5212) .. controls (5.21214,3.47223) .. (5.05143,3.57938);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(5.48,3.63756) .. controls (5.21214,3.68652) .. (5.05143,3.57938);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.48,3.5212) -- (5.48,3.63756);
% Ship drawing: inside triangle
\draw [color=gray85, fill=gray85, ultra thin] 
(12.2503,3.54002) -- (11.8207,3.59056) -- (12.2482,3.65636);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray85, ultra thin] 
(12.2503,3.54002) .. controls (11.9833,3.4863) .. (11.8207,3.59056);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray85, ultra thin] 
(12.2482,3.65636) .. controls (11.9795,3.70055) .. (11.8207,3.59056);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(12.2503,3.54002) -- (12.2482,3.65636);
% Ship drawing: left side of bow 
\draw [color=black, ultra thin] 
(8.05071,3.5212) .. controls (7.78286,3.47223) .. (7.62214,3.57938);
% Ship drawing: right side of bow 
\draw [color=black, ultra thin] 
(8.05071,3.63756) .. controls (7.78286,3.68652) .. (7.62214,3.57938);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(8.05071,3.5212) -- (8.05071,3.63756);
% Ship drawing: left side of bow 
\draw [color=black, ultra thin] 
(1.39286,5.76652) .. controls (1.70536,5.82366) .. (1.89286,5.69866);
% Ship drawing: right side of bow 
\draw [color=black, ultra thin] 
(1.39286,5.63081) .. controls (1.70536,5.57366) .. (1.89286,5.69866);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(1.39286,5.76652) -- (1.39286,5.63081);
% Ship drawing: inside triangle
\draw [color=gray90, fill=gray90, ultra thin] 
(1.39286,5.26652) -- (1.89286,5.19866) -- (1.39286,5.13081);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(1.39286,5.26652) .. controls (1.70536,5.32366) .. (1.89286,5.19866);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(1.39286,5.13081) .. controls (1.70536,5.07366) .. (1.89286,5.19866);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(1.39286,5.26652) -- (1.39286,5.13081);
% Draw Point: newborn:bogusleft
\draw [color=gray96,fill=gray96, thin] 
(0.428571,4.27009) circle (0.01cm);
% Draw Point: bogus:bogusleft_copy
\draw [color=gray96,fill=gray96, thin] 
(13.0714,4.27009) circle (0.01cm);
% Draw Trail: auto_abe:trail_abe
\draw [color=black,fill=black, thin] 
(11.2936,3.58152) circle (0.005cm);\draw [color=black,fill=black, thin] 
(11.1996,3.57959) circle (0.005cm);\draw [color=black,fill=black, thin] 
(11.1075,3.57866) circle (0.005cm);\draw [color=black,fill=black, thin] 
(11.015,3.57866) circle (0.005cm);\draw [color=black,fill=black, thin] 
(10.9225,3.57795) circle (0.005cm);\draw [color=black,fill=black, thin] 
(10.8308,3.57795) circle (0.005cm);\draw [color=black,fill=black, thin] 
(10.7369,3.57795) circle (0.005cm);\draw [color=black,fill=black, thin] 
(10.6449,3.57795) circle (0.005cm);\draw [color=black,fill=black, thin] 
(10.5524,3.57795) circle (0.005cm);\draw [color=black,fill=black, thin] 
(10.459,3.57723) circle (0.005cm);\draw [color=black,fill=black, thin] 
(10.3656,3.57723) circle (0.005cm);\draw [color=black,fill=black, thin] 
(10.2733,3.57723) circle (0.005cm);\draw [color=black,fill=black, thin] 
(10.1799,3.57723) circle (0.005cm);\draw [color=black,fill=black, thin] 
(10.0886,3.57659) circle (0.005cm);\draw [color=black,fill=black, thin] 
(9.99993,3.56716) circle (0.005cm);\draw [color=black,fill=black, thin] 
(9.91686,3.55073) circle (0.005cm);\draw [color=black,fill=black, thin] 
(9.83271,3.52909) circle (0.005cm);\draw [color=black,fill=black, thin] 
(9.74714,3.50459) circle (0.005cm);\draw [color=black,fill=black, thin] 
(9.66107,3.47845) circle (0.005cm);\draw [color=black,fill=black, thin] 
(9.57386,3.44995) circle (0.005cm);\draw [color=black,fill=black, thin] 
(9.48629,3.42145) circle (0.005cm);\draw [color=black,fill=black, thin] 
(9.39857,3.39173) circle (0.005cm);\draw [color=black,fill=black, thin] 
(9.31136,3.36266) circle (0.005cm);\draw [color=black,fill=black, thin] 
(9.223,3.33245) circle (0.005cm);\draw [color=black,fill=black, thin] 
(9.13629,3.30273) circle (0.005cm);\draw [color=black,fill=black, thin] 
(9.04743,3.27273) circle (0.005cm);\draw [color=black,fill=black, thin] 
(8.96057,3.24281) circle (0.005cm);\draw [color=black,fill=black, thin] 
(8.87314,3.21281) circle (0.005cm);\draw [color=black,fill=black, thin] 
(8.78429,3.18231) circle (0.005cm);\draw [color=black,fill=black, thin] 
(8.69714,3.15202) circle (0.005cm);\draw [color=black,fill=black, thin] 
(8.60936,3.12181) circle (0.005cm);\draw [color=black,fill=black, thin] 
(8.52193,3.09181) circle (0.005cm);\draw [color=black,fill=black, thin] 
(8.43329,3.06166) circle (0.005cm);\draw [color=black,fill=black, thin] 
(8.34629,3.03102) circle (0.005cm);\draw [color=black,fill=black, thin] 
(8.25771,3.00073) circle (0.005cm);\draw [color=black,fill=black, thin] 
(8.16936,2.97038) circle (0.005cm);\draw [color=black,fill=black, thin] 
(8.08243,2.94045) circle (0.005cm);\draw [color=black,fill=black, thin] 
(7.99436,2.91031) circle (0.005cm);\draw [color=black,fill=black, thin] 
(7.90679,2.87981) circle (0.005cm);\draw [color=black,fill=black, thin] 
(7.82071,2.84938) circle (0.005cm);\draw [color=black,fill=black, thin] 
(7.73571,2.81795) circle (0.005cm);\draw [color=black,fill=black, thin] 
(7.6495,2.78623) circle (0.005cm);\draw [color=black,fill=black, thin] 
(7.563,2.75545) circle (0.005cm);\draw [color=black,fill=black, thin] 
(7.47679,2.72516) circle (0.005cm);\draw [color=black,fill=black, thin] 
(7.38807,2.69459) circle (0.005cm);\draw [color=black,fill=black, thin] 
(7.30171,2.66402) circle (0.005cm);\draw [color=black,fill=black, thin] 
(7.21343,2.63373) circle (0.005cm);\draw [color=black,fill=black, thin] 
(7.12714,2.60438) circle (0.005cm);\draw [color=black,fill=black, thin] 
(7.04121,2.57752) circle (0.005cm);\draw [color=black,fill=black, thin] 
(6.95471,2.55323) circle (0.005cm);\draw [color=black,fill=black, thin] 
(6.869,2.53238) circle (0.005cm);\draw [color=black,fill=black, thin] 
(6.78221,2.51495) circle (0.005cm);\draw [color=black,fill=black, thin] 
(6.69807,2.50145) circle (0.005cm);\draw [color=black,fill=black, thin] 
(6.61214,2.49331) circle (0.005cm);\draw [color=black,fill=black, thin] 
(6.52571,2.48938) circle (0.005cm);\draw [color=black,fill=black, thin] 
(6.43857,2.48981) circle (0.005cm);\draw [color=black,fill=black, thin] 
(6.35214,2.49438) circle (0.005cm);\draw [color=black,fill=black, thin] 
(6.26464,2.50295) circle (0.005cm);\draw [color=black,fill=black, thin] 
(6.17821,2.51552) circle (0.005cm);\draw [color=black,fill=black, thin] 
(6.09343,2.53195) circle (0.005cm);\draw [color=black,fill=black, thin] 
(6.01057,2.55302) circle (0.005cm);\draw [color=black,fill=black, thin] 
(5.927,2.57802) circle (0.005cm);\draw [color=black,fill=black, thin] 
(5.84393,2.60681) circle (0.005cm);\draw [color=black,fill=black, thin] 
(5.76207,2.63902) circle (0.005cm);\draw [color=black,fill=black, thin] 
(5.67979,2.67438) circle (0.005cm);\draw [color=black,fill=black, thin] 
(5.59486,2.71145) circle (0.005cm);\draw [color=black,fill=black, thin] 
(5.50986,2.74831) circle (0.005cm);\draw [color=black,fill=black, thin] 
(5.42564,2.78509) circle (0.005cm);\draw [color=black,fill=black, thin] 
(5.34143,2.82152) circle (0.005cm);\draw [color=black,fill=black, thin] 
(5.25686,2.85616) circle (0.005cm);\draw [color=black,fill=black, thin] 
(5.1725,2.89009) circle (0.005cm);\draw [color=black,fill=black, thin] 
(5.08743,2.92266) circle (0.005cm);\draw [color=black,fill=black, thin] 
(5.001,2.95409) circle (0.005cm);\draw [color=black,fill=black, thin] 
(4.91543,2.98402) circle (0.005cm);\draw [color=black,fill=black, thin] 
(4.82929,3.01295) circle (0.005cm);\draw [color=black,fill=black, thin] 
(4.74193,3.04031) circle (0.005cm);\draw [color=black,fill=black, thin] 
(4.65429,3.06652) circle (0.005cm);\draw [color=black,fill=black, thin] 
(4.56743,3.09109) circle (0.005cm);\draw [color=black,fill=black, thin] 
(4.48,3.11438) circle (0.005cm);\draw [color=black,fill=black, thin] 
(4.39071,3.13688) circle (0.005cm);\draw [color=black,fill=black, thin] 
(4.3025,3.15838) circle (0.005cm);\draw [color=black,fill=black, thin] 
(4.21293,3.17931) circle (0.005cm);\draw [color=black,fill=black, thin] 
(4.1235,3.19873) circle (0.005cm);\draw [color=black,fill=black, thin] 
(4.03464,3.21752) circle (0.005cm);\draw [color=black,fill=black, thin] 
(3.94414,3.23566) circle (0.005cm);\draw [color=black,fill=black, thin] 
(3.85386,3.25316) circle (0.005cm);\draw [color=black,fill=black, thin] 
(3.76429,3.26895) circle (0.005cm);\draw [color=black,fill=black, thin] 
(3.6735,3.28423) circle (0.005cm);\draw [color=black,fill=black, thin] 
(3.58407,3.29873) circle (0.005cm);\draw [color=black,fill=black, thin] 
(3.4925,3.31231) circle (0.005cm);\draw [color=black,fill=black, thin] 
(3.40093,3.32531) circle (0.005cm);\draw [color=black,fill=black, thin] 
(3.31021,3.33709) circle (0.005cm);\draw [color=black,fill=black, thin] 
(3.21957,3.34888) circle (0.005cm);\draw [color=black,fill=black, thin] 
(3.12693,3.36038) circle (0.005cm);\draw [color=black,fill=black, thin] 
(3.036,3.37073) circle (0.005cm);\draw [color=black,fill=black, thin] 
(2.94414,3.38123) circle (0.005cm);\draw [color=black,fill=black, thin] 
(2.853,3.39081) circle (0.005cm);\draw [color=black,fill=black, thin] 
(2.7615,3.40016) circle (0.005cm);\draw [color=black,fill=black, thin] 
(2.66907,3.40873) circle (0.005cm);\draw [color=black,fill=black, thin] 
(2.57629,3.41752) circle (0.005cm);\draw [color=black,fill=black, thin] 
(2.48421,3.42545) circle (0.005cm);\draw [color=black,fill=black, thin] 
(2.39236,3.43359) circle (0.005cm);\draw [color=black,fill=black, thin] 
(2.29971,3.44209) circle (0.005cm);\draw [color=black,fill=black, thin] 
(2.2075,3.45038) circle (0.005cm);\draw [color=black,fill=black, thin] 
(2.11543,3.45845) circle (0.005cm);\draw [color=black,fill=black, thin] 
(2.02193,3.46645) circle (0.005cm);\draw [color=black,fill=black, thin] 
(1.92936,3.47445) circle (0.005cm);\draw [color=black,fill=black, thin] 
(1.83707,3.48281) circle (0.005cm);\draw [color=black,fill=black, thin] 
(1.74479,3.49088) circle (0.005cm);\draw [color=black,fill=black, thin] 
(1.65157,3.49916) circle (0.005cm);\draw [color=black,fill=black, thin] 
(1.55943,3.50709) circle (0.005cm);\draw [color=black,fill=black, thin] 
(1.46871,3.52138) circle (0.005cm);
% Draw Trail: auto_ben:trail_ben
\draw [color=black,fill=black, thin] 
(7.665,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.644,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.62286,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.60079,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.57964,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.558,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.5365,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.51493,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.49386,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.47271,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.45114,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.42957,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.40814,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.38671,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.365,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.34393,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.32257,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.30107,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.27914,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.25814,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.23664,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.21529,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.19357,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.17229,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.15086,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.12936,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.10786,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.08679,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.06529,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.04386,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.02229,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(7.00107,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.97957,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.95821,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.93636,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.91536,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.89357,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.872,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.851,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.82929,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.808,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.78671,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.76543,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.74386,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.72236,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.70079,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.67971,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.65786,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.63679,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.61564,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.59364,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.57257,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.55079,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.5295,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.508,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.487,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.465,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.444,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.42236,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.401,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.37971,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.35829,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.33686,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.31507,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.29386,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.27214,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.25079,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.22943,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.208,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.18629,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.16514,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.14329,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.12207,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.10121,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.07929,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.05786,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.03679,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(6.015,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.99386,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.97207,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.95114,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.9295,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.908,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.88629,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.86543,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.84371,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.822,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.80057,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.77921,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.75814,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.73686,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.71521,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.69379,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.67243,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.65086,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.62914,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.60829,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.58664,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.56529,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.54379,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.52214,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.50057,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.47936,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.45814,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.43679,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.41543,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.39371,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.37229,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.35086,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.32979,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.30807,3.57938) circle (0.001cm);\draw [color=black,fill=black, thin] 
(5.28657,3.57938) circle (0.001cm);
% Draw Wedge: newborn:enter_wedge
\draw [color=black, ultra thin] 
(7.40786,3.57938) -- (8.44657,1.0717) arc (292.5:427.5:2.71429) -- (7.40786,3.57938) arc (427.5:292.5:0) -- cycle;
% Draw Wedge: contact:release_wedge
\draw [color=black, ultra thin] 
(6.12214,3.57938) -- (3.66216,4.72648) arc (155:205:2.71429) -- (6.12214,3.57938) arc (205:155:0) -- cycle;
% Draw Wedge: contact:enter_wedge_67p5
\draw [color=black,dashed, ultra thin] 
(7.40786,3.57938) -- (8.83643,3.57938) arc (-0:67.5:1.42857) -- (7.40786,3.57938) arc (67.5:-0:0) -- cycle;
% Text Label
\draw [color=black] (12,0.912949) node {\scriptsize
{$t_{00}$: mode=Null}
};

% Text Label
\draw [color=black] (2.71429,5.73438) node {\scriptsize
contact
};

% Text Label
\draw [color=black] (3.07143,1.41295) node {\scriptsize
{$t_{50}$: mode=CPA}
};

% Text Label
\draw [color=black] (8.64286,2.55581) node {\small
$t_{20}$
};

% Text Label
\draw [color=black] (7,2.12723) node {\small
$t_{30}$
};

% Text Label
\draw [color=black] (5.21429,2.41295) node {\small
$t_{40}$
};

% Text Label
\draw [color=black] (3.42857,2.98438) node {\small
$t_{50}$
};

% Text Label
\draw [color=black] (7.92857,5.84152) node {\scriptsize
{$\check{r}_{pwt}$}
};

% Text Label
\draw [color=black] (12.2143,3.12723) node {\small
$t_{00}$
};

% Text Label
\draw [color=black] (2.78571,5.19866) node {\scriptsize
ownship
};

% Text Label
\draw [color=black] (1.64286,0.912949) node {\scriptsize
{$t_{60}$: mode=Null}
};

% Text Label
\draw [color=black] (6.28571,0.912949) node {\scriptsize
{$t_{10-40}$: mode=Overtaking,Port}
};

% Text Label
\draw [color=black] (9,4.62723) node {\tiny
$67.5^{\circ}$
};

% Text Label
\draw [color=black] (1.64286,2.98438) node {\small
$t_{60}$
};

% Text Label
\draw [color=black] (10.3571,3.12723) node {\small
$t_{10}$
};

% Ship drawing: inside triangle
\draw [color=gray85, fill=gray85, ultra thin] 
(6.9177,2.47035) -- (6.48522,2.47496) -- (6.90328,2.58581);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray85, ultra thin] 
(6.9177,2.47035) .. controls (6.65798,2.38856) .. (6.48522,2.47496);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray85, ultra thin] 
(6.90328,2.58581) .. controls (6.63142,2.6012) .. (6.48522,2.47496);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(6.9177,2.47035) -- (6.90328,2.58581);
% Ship drawing: inside triangle
\draw [color=gray85, fill=gray85, ultra thin] 
(10.3943,3.51909) -- (9.96571,3.5772) -- (10.3943,3.63545);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray85, ultra thin] 
(10.3943,3.51909) .. controls (10.1264,3.47008) .. (9.96571,3.5772);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray85, ultra thin] 
(10.3943,3.63545) .. controls (10.1264,3.68437) .. (9.96571,3.5772);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(10.3943,3.51909) -- (10.3943,3.63545);
% Ship drawing: inside triangle
\draw [color=gray85, fill=gray85, ultra thin] 
(8.65512,3.07628) -- (8.23096,2.99176) -- (8.61724,3.18629);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray85, ultra thin] 
(8.65512,3.07628) .. controls (8.4178,2.94277) .. (8.23096,2.99176);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray85, ultra thin] 
(8.61724,3.18629) .. controls (8.34804,3.14539) .. (8.23096,2.99176);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(8.65512,3.07628) -- (8.61724,3.18629);
% Ship drawing: inside triangle
\draw [color=gray85, fill=gray85, ultra thin] 
(5.1828,2.82731) -- (4.799,3.02668) -- (5.22206,2.93684);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray85, ultra thin] 
(5.1828,2.82731) .. controls (4.91413,2.87159) .. (4.799,3.02668);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray85, ultra thin] 
(5.22206,2.93684) .. controls (4.98644,3.07331) .. (4.799,3.02668);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(5.1828,2.82731) -- (5.22206,2.93684);
% Ship drawing: inside triangle
\draw [color=gray85, fill=gray85, ultra thin] 
(1.60483,3.44346) -- (1.18296,3.53877) -- (1.61497,3.55937);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray85, ultra thin] 
(1.60483,3.44346) .. controls (1.33372,3.41803) .. (1.18296,3.53877);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray85, ultra thin] 
(1.61497,3.55937) .. controls (1.3524,3.6315) .. (1.18296,3.53877);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(1.60483,3.44346) -- (1.61497,3.55937);
% Ship drawing: inside triangle
\draw [color=gray85, fill=gray85, ultra thin] 
(3.42446,3.26376) -- (3.00673,3.37585) -- (3.43922,3.37918);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray85, ultra thin] 
(3.42446,3.26376) .. controls (3.15255,3.24918) .. (3.00673,3.37585);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray85, ultra thin] 
(3.43922,3.37918) .. controls (3.17974,3.46174) .. (3.00673,3.37585);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(3.42446,3.26376) -- (3.43922,3.37918);
\end{tikzpicture}  
