\begin{tikzpicture}           
% Grid
\draw [rounded corners,menublue,fill=gray99, very thin]
(0,3) -- (0,0) -- (13.5,0) -- (13.5,6) -- (0,6) -- (0,3);
\draw [color=gray96, thin] (6.75,0) -- (6.75,6);
\draw [color=gray96, thin] (7.72122,0) -- (7.72122,6);
\draw [color=gray96, thin] (8.69245,0) -- (8.69245,6);
\draw [color=gray96, thin] (9.66367,0) -- (9.66367,6);
\draw [color=gray96, thin] (10.6349,0) -- (10.6349,6);
\draw [color=gray96, thin] (11.6061,0) -- (11.6061,6);
\draw [color=gray96, thin] (12.5773,0) -- (12.5773,6);
\draw [color=gray96, thin] (5.77878,0) -- (5.77878,6);
\draw [color=gray96, thin] (4.80755,0) -- (4.80755,6);
\draw [color=gray96, thin] (3.83633,0) -- (3.83633,6);
\draw [color=gray96, thin] (2.86511,0) -- (2.86511,6);
\draw [color=gray96, thin] (1.89388,0) -- (1.89388,6);
\draw [color=gray96, thin] (0.922662,0) -- (0.922662,6);
\draw [color=gray96, thin] (0,3) -- (13.5,3);
\draw [color=gray96, thin] (0,3.97122) -- (13.5,3.97122);
\draw [color=gray96, thin] (0,4.94245) -- (13.5,4.94245);
\draw [color=gray96, thin] (0,5.91367) -- (13.5,5.91367);
\draw [color=gray96, thin] (0,2.02878) -- (13.5,2.02878);
\draw [color=gray96, thin] (0,1.05755) -- (13.5,1.05755);
\draw [color=gray96, thin] (0,0.0863309) -- (13.5,0.0863309);
% Grid
\draw [rounded corners,menublue, very thin]
(0,3) -- (0,0) -- (13.5,0) -- (13.5,6) -- (0,6) -- (0,3);

% Draw Circle: contact:range
\draw [color=darkblue, ultra thin] 
(2.52518,2.80576) circle (2.42806cm);
% Panel
\draw [rounded corners,gray40,fill=beige, thin]
(5.82734,4.95683) -- (5.82734,4.45683) -- (13.3273,4.45683) -- (13.3273,5.45683) -- (5.82734,5.45683) -- (5.82734,4.95683);

% Panel
\draw [rounded corners,gray35,fill=beige, thin]
(6.70144,0.977698) -- (6.70144,0.377698) -- (12.2014,0.377698) -- (12.2014,1.5777) -- (6.70144,1.5777) -- (6.70144,0.977698);

% Panel
\draw [rounded corners,gray35,fill=beige, thin]
(7.18705,3.03561) -- (7.18705,2.13561) -- (11.6871,2.13561) -- (11.6871,3.93561) -- (7.18705,3.93561) -- (7.18705,3.03561);

% Text Label
\draw [color=black] (9.59568,4.96187) node {\scriptsize
$\begin{aligned}
x_{os} &= 0,   & y_{os} &=0,   & \theta_{os} &=125^{\circ}, & v_{os} &= 1.5m/s \\
x_{cn} &= 177, & y_{cn} &=177, & \theta_{cn} &=340^{\circ}, & v_{cn} &= 3.0m/s
\end{aligned}$
};

% Text Label
\draw [color=black] (9.61511,1.05755) node {\scriptsize
$\begin{aligned}
r_{\gamma} &= r \cdot cos(\theta^{os}_{\gamma} - relbng^{os}_{cn}) \\
r_{\gamma} &= 250.32 \cdot cos(70 - 45) = 226.86m \\
\end{aligned}$
};

% Text Label
\draw [color=black] (9.51799,3.05827) node {\scriptsize
$\begin{aligned}
\theta^{os}_{\gamma} &= [\theta_{cn} + 90]^{^{360}} = 70^{\circ}   \\
v^{os}_{\gamma}      &= cos(\theta^{os}_{\gamma} - \theta_{os}) \cdot v_{os} \\
v^{os}_{\gamma}      &= cos(55) \cdot 1.5 = 0.86 m/s
\end{aligned}$
};


% Text Label
\draw [color=black] (2.23381,2.32014) node {\scriptsize
ownship
};

% Text Label
\draw [color=black] (3.20504,4.45683) node {\scriptsize
contact
};

% Text Label
\draw [color=black] (5.63309,3.8741) node {\scriptsize
$\theta^{os}_{\gamma}$
};

% Text Label
\draw [color=black] (3.10791,5.52518) node {\scriptsize
{$\theta_{cn}, v_{cn}$}
};

% Text Label
\draw [color=black] (3.98201,2.1259) node {\scriptsize
{$\theta_{os}, v_{os}$}
};

% Text Label
\draw [color=black] (3.69065,3.43705) node {\scriptsize
$r_{\gamma}$
};

% Ship drawing: left side of bow 
\draw [color=black, ultra thin] 
(2.33297,2.96809) .. controls (2.6315,2.89013) .. (2.74524,2.70314);
% Ship drawing: right side of bow 
\draw [color=black, ultra thin] 
(2.27727,2.84865) .. controls (2.52889,2.67007) .. (2.74524,2.70314);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(2.33297,2.96809) -- (2.27727,2.84865);



% Draw Line: panel_2:panel2_3
\draw [color=black, ->, thick] 
(8.83813,2.13561) -- (8.83813,1.65);
% Draw Line: panel_1:panel1_2
\draw [color=black, ->, thick] 
(8.83813,4.45683) -- (8.83813,3.97122);
% Ship drawing: inside triangle
\draw [color=beige, fill=beige, ultra thin] 
(4.26338,4.27216) -- (4.15926,4.75104) -- (4.38732,4.31727);
% Ship drawing: left side of bow 
\draw [color=black,fill=beige, ultra thin] 
(4.26338,4.27216) .. controls (4.10226,4.5365) .. (4.15926,4.75104);
% Ship drawing: right side of bow 
\draw [color=black,fill=beige, ultra thin] 
(4.38732,4.31727) .. controls (4.34082,4.62333) .. (4.15926,4.75104);
% Ship drawing: stern line 
\draw [color=black, ultra thin] 
(4.26338,4.27216) -- (4.38732,4.31727);
% Draw Point: bogus:bogus_right
\draw [color=white,fill=white, thin] 
(13.2086,2.80576) circle (0.001cm);
% Draw Point: bogus:bogus_right_bottom
\draw [color=white,fill=white, thin] 
(11.2662,0.863309) circle (0.001cm);
% Draw Point: ownship:ship_ctr_ownship
\draw [color=black,fill=black, thin] 
(2.52518,2.80576) circle (0.02cm);
% Draw Point: contact:ship_ctr_contact
\draw [color=black,fill=black, thin] 
(4.24201,4.52259) circle (0.02cm);
% Draw Line: ownship_contact:range_line
\draw [color=gray25, dotted, thin] 
(2.52518,2.80576) -- (4.24211,4.52268);
% Draw Line: contact:contact_trail
\draw [color=gray50, dotted, thin] 
(4.2423,4.52259) -- (4.90662,2.69727);
% Draw Line: ownship_contact:theta_gamma
\draw [color=gray60, ->, thin] 
(2.52518,2.80576) -- (5.26315,3.80233);
% Draw Line: contact:contact_heading
\draw [color=gray25, ->, thin] 
(4.24201,4.52259) -- (3.90985,5.43524);
% Draw Line: ownship:ownship_heading
\draw [color=gray25, ->, thin] 
(2.52518,2.80576) -- (3.4054,2.39532);
% Draw Line: ownship_contact:range_gamma_line
\draw [color=gray25, |-|, very thin] 
(2.42806,3.19424) -- (4.45228,3.93101);
\end{tikzpicture}  
