grid = key=master,group=grid,depth=1,widthcm=13.5,heightcm=6.5,   \
       gcell=10,xmarg=1,ymarg=1,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,group=panel_1,depth=11,x=35,y=20.5,widthcm=7.5, \
        heightcm=1,rounded=true,border_thickness=thin,             \
        border_color=gray40,panel_color=beige
 
panel = key=panel3_speed_eps,group=panels,depth=12,x=42,y=-33.5,     \
        widthcm=5.6,heightcm=2.1,rounded=true,border_thickness=thin, \
        border_color=gray35,panel_color=beige
 
panel = key=panel2_theta_eps,group=panels,depth=12,x=42,y=-5,        \
        widthcm=5.6,heightcm=1.8,rounded=true,border_thickness=thin, \
        border_color=gray35,panel_color=beige
 
label = key=macro1,group=panel_1,depth=81,label=macro:macro1_init_pos, \
        label_color=black,label_size=scriptsize,x=74,y=26
 
label = key=macro2,group=panel_2,depth=82,label=macro:macro2_theta_eps, \
        label_color=black,label_size=scriptsize,x=72,y=5
 
label = key=macro3,group=panel_3,depth=82,label=macro:macro3_speed_eps, \
        label_color=black,label_size=scriptsize,x=72,y=-22.5
 
\begin{macro}[macro3_speed_eps][macros]
$\begin{aligned}
v^{os}_{\epsilon} &= v^{os}_{cnh} - v_{cn}        \\
v^{os}_{\epsilon} &= 2.72 - 1.2 = 1.52 m/s        \\[0.06in]
r_{\epsilon} &= r \cdot cos(\theta^{os}_{\epsilon} - relbng^{os}_{cn})   \\
r_{\epsilon} &= 250.32 \cdot cos(340 - 45) = 105.78m
\end{aligned}$
\end{macro}

 
label = key=ownship_label,group=ownship,depth=100,label=ownship, \
        label_color=black,label_size=scriptsize,x=-3,y=-5
 
label = key=contact,group=contact,depth=100,label=contact, \
        label_color=black,label_size=scriptsize,x=21,y=12
 
label = key=theta_epsilon,group=ownship,depth=100,        \
        label=$\theta^{os}_{\epsilon}$,label_color=black, \
        label_size=scriptsize,x=-15,y=27
 
label = key=contact_hdg_spd,group=contact,depth=100,     \
        label={$\theta_{cn}, v_{cn}$},label_color=black, \
        label_size=scriptsize,x=6,y=28
 
label = key=ownship_hdg_spd,group=ownship,depth=100,     \
        label={$\theta_{os}, v_{os}$},label_color=black, \
        label_size=scriptsize,x=-14,y=5
 
label = key=range_eps,group=contact,depth=100,label={$r_\epsilon$}, \
        label_color=black,label_size=scriptsize,x=4,y=8.5
 
vessel = key=ownship,group=ownship,depth=100,x=0,y=0,hdg=315,      \
         body_type=,length=5,wid_mbody=2.5,wid_stern=1.357,        \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin, \
         fill_color=empty
 
frame = key=framekey,group=frame,depth=100,xl=-26,xh=115,yl=-34,yh=31
 
swarmpath = key=,group=,depth=100,begtime=0,endtime=0,nowtime=0
 
\begin{macro}[macro1_init_pos][macros]
$\begin{aligned}
x_{os} &= 0,   & y_{os} &=0,   & \theta_{os} &=315^{\circ}, & v_{os} &= 3.0m/s \\
x_{cn} &= 177, & y_{cn} &=177, & \theta_{cn} &=340^{\circ}, & v_{cn} &= 1.2m/s
\end{aligned}$
\end{macro}

 
\begin{macro}[macro2_theta_eps][macros]
$\begin{aligned}
\theta^{os}_{\epsilon} &= \theta_{cn} = 340^{\circ}   \\[0.06in]
v^{os}_{cnh}      &= cos(\theta_{os} - \theta^{os}_{\epsilon} ) \cdot v_{os}  \\
v^{os}_{cnh}      &= cos(315 - 340) \cdot 3 .0 = 2.72 m/s \\
\end{aligned}$
\end{macro}

 
line = key=panel2_3,group=arrows,depth=101,x1=65,y1=-5.2,x2=65,         \
       y2=-10.2,line_color=black,line_style=solid,line_thickness=thick, \
       endtype2=arrow
 
line = key=panel1_2,group=arrows,depth=101,x1=65,y1=20.3,x2=65,y2=15, \
       line_color=black,line_style=solid,line_thickness=thick,        \
       endtype2=arrow
 
vessel = key=contact,group=contact,depth=900,x=17.68,y=17.68,hdg=340, \
         body_type=kayak,length=5,wid_mbody=2.614,wid_stern=1.358,    \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,    \
         fill_color=beige
 
point = key=bogus_right,group=bogus,depth=904,x=110,y=0, \
        point_size=0.001,point_color=white
 
point = key=bogus_right_bottom,group=bogus,depth=904,x=90,y=-20, \
        point_size=0.001,point_color=white
 
point = key=ship_ctr_contact,group=contact,depth=904,x=17.677,y=17.677, \
        point_size=0.02,point_color=black
 
point = key=ship_ctr_ownship,group=ownship,depth=904,x=0,y=0, \
        point_size=0.02,point_color=black
 
line = key=range_eps,group=contact,depth=920,x1=4,y1=2,x2=0.58, \
       y2=11.397,line_color=gray25,line_style=solid,            \
       line_thickness=very thin,endtype1=flat,endtype2=flat
 
line = key=range_line,group=ownship_contact,depth=920,x1=0,y1=0, \
       x2=17.678,y2=17.678,line_color=gray25,line_style=dotted,  \
       line_thickness=thin
 
line = key=contact_heading,group=contact,depth=920,x1=17.677,y1=17.677, \
       x2=14.257,y2=27.074,line_color=gray25,line_style=solid,          \
       line_thickness=thin,endtype2=arrow
 
line = key=contact_trail,group=contact,depth=920,x1=17.68,y1=17.677, \
       x2=-10.511,y2=7.416,line_color=gray50,line_style=dotted,      \
       line_thickness=thin
 
line = key=theta_epsilon,group=ownship_contact,depth=920,x1=0,y1=0, \
       x2=-10.261,y2=28.191,line_color=gray60,line_style=solid,     \
       line_thickness=thin,endtype2=arrow
 
line = key=ownship_heading,group=ownship,depth=920,x1=0,y1=0,x2=-7.071, \
       y2=7.071,line_color=gray25,line_style=solid,line_thickness=thin, \
       endtype2=arrow