\begin{tikzpicture}           
% Grid
\draw [rounded corners,menublue,fill=gray99, very thin]
(0,3.25) -- (0,0) -- (13.5,0) -- (13.5,6.5) -- (0,6.5) -- (0,3.25);
\draw [color=gray96, thin] (6.75,0) -- (6.75,6.5);
\draw [color=gray96, thin] (7.69406,0) -- (7.69406,6.5);
\draw [color=gray96, thin] (8.63811,0) -- (8.63811,6.5);
\draw [color=gray96, thin] (9.58217,0) -- (9.58217,6.5);
\draw [color=gray96, thin] (10.5262,0) -- (10.5262,6.5);
\draw [color=gray96, thin] (11.4703,0) -- (11.4703,6.5);
\draw [color=gray96, thin] (12.4143,0) -- (12.4143,6.5);
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\draw [color=gray96, thin] (4.86189,0) -- (4.86189,6.5);
\draw [color=gray96, thin] (3.91783,0) -- (3.91783,6.5);
\draw [color=gray96, thin] (2.97378,0) -- (2.97378,6.5);
\draw [color=gray96, thin] (2.02972,0) -- (2.02972,6.5);
\draw [color=gray96, thin] (1.08566,0) -- (1.08566,6.5);
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\draw [color=gray96, thin] (0,3.25) -- (13.5,3.25);
\draw [color=gray96, thin] (0,4.19406) -- (13.5,4.19406);
\draw [color=gray96, thin] (0,5.13811) -- (13.5,5.13811);
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% Grid
\draw [rounded corners,menublue, very thin]
(0,3.25) -- (0,0) -- (13.5,0) -- (13.5,6.5) -- (0,6.5) -- (0,3.25);

% Draw Circle: contact:range
\draw [color=darkblue, ultra thin] 
(2.54895,3.39161) circle (2.36014cm);
% Panel
\draw [rounded corners,gray40,fill=beige, thin]
(5.85315,5.82692) -- (5.85315,5.32692) -- (13.3531,5.32692) -- (13.3531,6.32692) -- (5.85315,6.32692) -- (5.85315,5.82692);

% Panel
\draw [rounded corners,gray35,fill=beige, thin]
(6.51399,3.81958) -- (6.51399,2.91958) -- (12.114,2.91958) -- (12.114,4.71958) -- (6.51399,4.71958) -- (6.51399,3.81958);

% Panel
\draw [rounded corners,gray35,fill=beige, thin]
(6.51399,1.27902) -- (6.51399,0.229021) -- (12.114,0.229021) -- (12.114,2.32902) -- (6.51399,2.32902) -- (6.51399,1.27902);

% Text Label
\draw [color=black] (9.53497,5.84615) node {\scriptsize
$\begin{aligned}
x_{os} &= 0,   & y_{os} &=0,   & \theta_{os} &=315^{\circ}, & v_{os} &= 3.0m/s \\
x_{cn} &= 177, & y_{cn} &=177, & \theta_{cn} &=340^{\circ}, & v_{cn} &= 1.2m/s
\end{aligned}$
};

% Text Label
\draw [color=black] (9.34615,1.26748) node {\scriptsize
$\begin{aligned}
v^{os}_{\epsilon} &= v^{os}_{cnh} - v_{cn}        \\
v^{os}_{\epsilon} &= 2.72 - 1.2 = 1.52 m/s        \\[0.06in]
r_{\epsilon} &= r \cdot cos(\theta^{os}_{\epsilon} - relbng^{os}_{cn})   \\
r_{\epsilon} &= 250.32 \cdot cos(340 - 45) = 105.78m
\end{aligned}$
};

% Text Label
\draw [color=black] (9.34615,3.86364) node {\scriptsize
$\begin{aligned}
\theta^{os}_{\epsilon} &= \theta_{cn} = 340^{\circ}   \\[0.06in]
v^{os}_{cnh}      &= cos(\theta_{os} - \theta^{os}_{\epsilon} ) \cdot v_{os}  \\
v^{os}_{cnh}      &= cos(315 - 340) \cdot 3 .0 = 2.72 m/s \\
\end{aligned}$
};


% Text Label
\draw [color=black] (2.26573,2.91958) node {\scriptsize
ownship
};

% Text Label
\draw [color=black] (4.53147,4.52448) node {\scriptsize
contact
};

% Text Label
\draw [color=black] (1.13287,5.94056) node {\scriptsize
$\theta^{os}_{\epsilon}$
};

% Text Label
\draw [color=black] (3.11538,6.03497) node {\scriptsize
{$\theta_{cn}, v_{cn}$}
};

% Text Label
\draw [color=black] (1.22727,3.86364) node {\scriptsize
{$\theta_{os}, v_{os}$}
};

% Text Label
\draw [color=black] (2.92657,4.19406) node {\scriptsize
{$r_\epsilon$}
};

% Ship drawing: left side of bow 
\draw [color=black, ultra thin] 
(2.67054,3.17943) .. controls (2.42379,3.34989) .. (2.38206,3.5585);
% Ship drawing: right side of bow 
\draw [color=black, ultra thin] 
(2.76113,3.27001) .. controls (2.59067,3.51677) .. (2.38206,3.5585);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(2.67054,3.17943) -- (2.76113,3.27001);



% Draw Line: arrows:panel1_2
\draw [color=black, ->, thick] 
(8.68531,5.30804) -- (8.68531,4.80769);
% Draw Line: arrows:panel2_3
\draw [color=black, ->, thick] 
(8.68531,2.9007) -- (8.68531,2.42867);
% Ship drawing: inside triangle
\draw [color=beige, fill=beige, ultra thin] 
(4.23853,4.81699) -- (4.13732,5.28248) -- (4.359,4.86084);
% Ship drawing: left side of bow 
\draw [color=black,fill=beige, ultra thin] 
(4.23853,4.81699) .. controls (4.08191,5.07394) .. (4.13732,5.28248);
% Ship drawing: right side of bow 
\draw [color=black,fill=beige, ultra thin] 
(4.359,4.86084) .. controls (4.31381,5.15835) .. (4.13732,5.28248);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(4.23853,4.81699) -- (4.359,4.86084);
% Draw Point: bogus:bogus_right
\draw [color=white,fill=white, thin] 
(12.9336,3.39161) circle (0.001cm);
% Draw Point: bogus:bogus_right_bottom
\draw [color=white,fill=white, thin] 
(11.0455,1.5035) circle (0.001cm);
% Draw Point: ownship:ship_ctr_ownship
\draw [color=black,fill=black, thin] 
(2.54895,3.39161) circle (0.02cm);
% Draw Point: contact:ship_ctr_contact
\draw [color=black,fill=black, thin] 
(4.21776,5.06042) circle (0.02cm);
% Draw Line: ownship_contact:range_line
\draw [color=gray25, dotted, thin] 
(2.54895,3.39161) -- (4.21785,5.06051);
% Draw Line: contact:contact_heading
\draw [color=gray25, ->, thin] 
(4.21776,5.06042) -- (3.89489,5.94755);
% Draw Line: contact:contact_trail
\draw [color=gray50, dotted, thin] 
(4.21804,5.06042) -- (1.55665,4.09172);
% Draw Line: ownship_contact:theta_epsilon
\draw [color=gray60, ->, thin] 
(2.54895,3.39161) -- (1.58026,6.053);
% Draw Line: ownship:ownship_heading
\draw [color=gray25, ->, thin] 
(2.54895,3.39161) -- (1.88141,4.05915);
% Draw Line: contact:range_eps
\draw [color=gray25, |-|, very thin] 
(2.92657,3.58042) -- (2.60371,4.46755);
\end{tikzpicture}  
