\begin{tikzpicture}           
% Grid
\draw [rounded corners,menublue,fill=gray99, ultra thin]
(0,3) -- (0,0) -- (7,0) -- (7,6) -- (0,6) -- (0,3);
\draw [color=gray95, thin] (3.5,0) -- (3.5,6);
\draw [color=gray95, thin] (3.96435,0) -- (3.96435,6);
\draw [color=gray95, thin] (4.42869,0) -- (4.42869,6);
\draw [color=gray95, thin] (4.89304,0) -- (4.89304,6);
\draw [color=gray95, thin] (5.35738,0) -- (5.35738,6);
\draw [color=gray95, thin] (5.82173,0) -- (5.82173,6);
\draw [color=gray95, thin] (6.28608,0) -- (6.28608,6);
\draw [color=gray95, thin] (6.75042,0) -- (6.75042,6);
\draw [color=gray95, thin] (3.03565,0) -- (3.03565,6);
\draw [color=gray95, thin] (2.57131,0) -- (2.57131,6);
\draw [color=gray95, thin] (2.10696,0) -- (2.10696,6);
\draw [color=gray95, thin] (1.64262,0) -- (1.64262,6);
\draw [color=gray95, thin] (1.17827,0) -- (1.17827,6);
\draw [color=gray95, thin] (0.713924,0) -- (0.713924,6);
\draw [color=gray95, thin] (0.249578,0) -- (0.249578,6);
\draw [color=gray95, thin] (0,3) -- (7,3);
\draw [color=gray95, thin] (0,3.46435) -- (7,3.46435);
\draw [color=gray95, thin] (0,3.92869) -- (7,3.92869);
\draw [color=gray95, thin] (0,4.39304) -- (7,4.39304);
\draw [color=gray95, thin] (0,4.85738) -- (7,4.85738);
\draw [color=gray95, thin] (0,5.32173) -- (7,5.32173);
\draw [color=gray95, thin] (0,5.78608) -- (7,5.78608);
\draw [color=gray95, thin] (0,2.53565) -- (7,2.53565);
\draw [color=gray95, thin] (0,2.07131) -- (7,2.07131);
\draw [color=gray95, thin] (0,1.60696) -- (7,1.60696);
\draw [color=gray95, thin] (0,1.14262) -- (7,1.14262);
\draw [color=gray95, thin] (0,0.67827) -- (7,0.67827);
\draw [color=gray95, thin] (0,0.213924) -- (7,0.213924);
% Grid
\draw [rounded corners,menublue, ultra thin]
(0,3) -- (0,0) -- (7,0) -- (7,6) -- (0,6) -- (0,3);


% Text Label
\draw [color=black] (2.1534,1.95025) node {\scriptsize
ownship
};

% Text Label
\draw [color=black] (4.47513,3.52903) node {\footnotesize
contact
};

% Text Label
\draw [color=black] (3.08209,0.928692) node {\scriptsize
port
};

% Text Label
\draw [color=black] (4.75373,1.30017) node {\scriptsize
starboard
};

% Text Label
\draw [color=black] (5.49669,4.45772) node {\scriptsize
starboard
};

% Text Label
\draw [color=black] (1.50331,4.92207) node {\tiny
{\tt os\_port\_of\_cn=false}
};

% Text Label
\draw [color=black] (1.50331,4.64346) node {\tiny
{\tt os\_starboard\_of\_cn=true}
};

% Text Label
\draw [color=black] (1.50331,4.36485) node {\tiny
{\tt cn\_port\_of\_os=false}
};

% Text Label
\draw [color=black] (1.50331,4.08624) node {\tiny
{\tt cn\_starboard\_of\_os=true}
};

% Ship drawing: inside triangle
\draw [color=gray90, fill=gray90, ultra thin] 
(3.81143,3.91879) -- (4.33349,4.31608) -- (3.9362,3.79402);
% Ship drawing: left side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(3.81143,3.91879) .. controls (4.04619,4.25862) .. (4.33349,4.31608);
% Ship drawing: right side of bow 
\draw [color=black,fill=gray90, ultra thin] 
(3.9362,3.79402) .. controls (4.27603,4.02878) .. (4.33349,4.31608);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(3.81143,3.91879) -- (3.9362,3.79402);
% Ship drawing: inside triangle
\draw [color=white, fill=white, ultra thin] 
(3.24954,1.65803) -- (2.85225,2.18009) -- (3.37431,1.7828);
% Ship drawing: left side of bow 
\draw [color=black,fill=white, ultra thin] 
(3.24954,1.65803) .. controls (2.90449,1.88757) .. (2.85225,2.18009);
% Ship drawing: right side of bow 
\draw [color=black,fill=white, ultra thin] 
(3.37431,1.7828) .. controls (3.14477,2.12785) .. (2.85225,2.18009);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(3.24954,1.65803) -- (3.37431,1.7828);
% Draw Point: ownship:ship_ctr
\draw [color=black,fill=black, thin] 
(3.08209,1.95025) circle (0.03cm);
% Draw Point: contact:ship_ctr
\draw [color=black,fill=black, thin] 
(4.10365,4.08624) circle (0.03cm);
% Draw Line: ownship:southeast_line
\draw [color=gray25, very thin] 
(3.08209,1.95025) -- (4.06715,0.96519);
% Draw Line: ownship:northwest_line
\draw [color=gray25, ->, very thin] 
(3.08209,1.95025) -- (2.09703,2.93532);
% Text Label
\draw [color=black] (4.01078,4.92207) node {\scriptsize
port
};

% Draw Line: contact:cn_southeast
\draw [color=gray25, very thin] 
(4.10365,4.08624) -- (3.11859,3.10118);
% Draw Line: ownship:cn_northeast
\draw [color=gray25, ->, very thin] 
(4.10365,4.08624) -- (5.08871,5.07131);
\end{tikzpicture}  
