grid = key=master,group=grid,depth=1,widthcm=13.5,heightcm=6,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=pane1,group=panel_1,depth=11,x=34,y=17,widthcm=7.5, \
        heightcm=1,rounded=true,border_thickness=thin,          \
        border_color=gray40,panel_color=beige
 
panel = key=panel2,group=panel_2,depth=12,x=48,y=-6.9,widthcm=4.5, \
        heightcm=1.8,rounded=true,border_thickness=thin,           \
        border_color=gray35,panel_color=beige
 
panel = key=panel3,group=panel_3,depth=12,x=43,y=-25,widthcm=5.5, \
        heightcm=1.2,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=72.8,y=22.2
 
label = key=macro2,group=panel_2,depth=82,label=macro:macro2_range_bng, \
        label_color=black,label_size=scriptsize,x=72,y=2.6
 
label = key=macro3,group=panel_3,depth=82,label=macro:macro3_range_gam, \
        label_color=black,label_size=scriptsize,x=73,y=-18
 
\begin{macro}[macro3_range_gam][macros]
$\begin{aligned}
r_{\gamma} &= r \cdot cos(\theta^{os}_{\gamma} - relbng^{os}_{cn}) \\
r_{\gamma} &= 250.32 \cdot cos(70 - 45) = 226.86m \\
\end{aligned}$
\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_label,group=contact,depth=100,label=contact, \
        label_color=black,label_size=scriptsize,x=7,y=17
 
label = key=tangent_theta,group=ownship,depth=100,      \
        label=$\theta^{os}_{\gamma}$,label_color=black, \
        label_size=scriptsize,x=32,y=11
 
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=15,y=-7
 
label = key=range_gamma,group=ownship,depth=100,label=$r_{\gamma}$, \
        label_color=black,label_size=scriptsize,x=12,y=6.5
 
vessel = key=ownship,group=ownship,depth=100,x=0,y=0,hdg=115,      \
         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=-25,xh=112,yl=-26,yh=30
 
swarmpath = key=,group=,depth=100,begtime=0,endtime=0,nowtime=0
 
\begin{macro}[macro1_init_pos][macros]
$\begin{aligned}
x_{os} &= 0,   & y_{os} &=0,   & \theta_{os} &=125^{\circ}, & v_{os} &= 1.5m/s \\
x_{cn} &= 177, & y_{cn} &=177, & \theta_{cn} &=340^{\circ}, & v_{cn} &= 3.0m/s
\end{aligned}$
\end{macro}

 
\begin{macro}[macro2_range_bng][macros]
$\begin{aligned}
\theta^{os}_{\gamma} &= [\theta_{cn} + 90]^{^{360}} = 70^{\circ}   \\
v^{os}_{\gamma}      &= cos(\theta^{os}_{\gamma} - \theta_{os}) \cdot v_{os} \\
v^{os}_{\gamma}      &= cos(55) \cdot 1.5 = 0.86 m/s
\end{aligned}$
\end{macro}

 
line = key=panel1_2,group=panel_1,depth=101,x1=65,y1=17,x2=65,y2=12, \
       line_color=black,line_style=solid,line_thickness=thick,       \
       endtype2=arrow
 
line = key=panel2_3,group=panel_2,depth=101,x1=65,y1=-6.9,x2=65,        \
       y2=-11.9,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_gamma_line,group=ownship_contact,depth=920,x1=-1,y1=4, \
       x2=19.842,y2=11.586,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_trail,group=contact,depth=920,x1=17.68,y1=17.677, \
       x2=24.52,y2=-1.117,line_color=gray50,line_style=dotted,       \
       line_thickness=thin
 
line = key=theta_gamma,group=ownship_contact,depth=920,x1=0,y1=0, \
       x2=28.191,y2=10.261,line_color=gray60,line_style=solid,    \
       line_thickness=thin,endtype2=arrow
 
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=ownship_heading,group=ownship,depth=920,x1=0,y1=0,x2=9.063, \
       y2=-4.226,line_color=gray25,line_style=solid,                   \
       line_thickness=thin,endtype2=arrow