grid = key=master,group=grid,depth=1,widthcm=12.5,heightcm=6.2,   \
       gcell=10,xmarg=6,ymarg=6,shrink=false,rounded=true,        \
       border_thickness=very thin,border_color=menublue,          \
       gback_color=gray97,gline_thickness=thin,gline_color=gray90
 
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=initial_pose_panel,group=initial_pose,depth=2,x=24,y=17, \
        widthcm=6.75,heightcm=1,rounded=true,border_thickness=thin,  \
        border_color=gray40,panel_color=beige
 
label = key=ownship_and_contact,group=initial_pose,depth=88,          \
        label=macro:init_pos,label_color=black,label_size=scriptsize, \
        x=58,y=22
 
label = key=ownship_label,group=ownship,depth=100,label=ownship, \
        label_color=black,label_size=scriptsize,x=0,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=contact,depth=100,label=$\theta_{tn}$, \
        label_color=black,label_size=scriptsize,x=28,y=7
 
label = key=theta_ownship,group=ownship,depth=100,       \
        label={$\theta_{os}, v_{os}$},label_color=black, \
        label_size=scriptsize,x=16,y=0
 
label = key=theta_contact,group=contact,depth=100,       \
        label={$\theta_{cn}, v_{cn}$},label_color=black, \
        label_size=scriptsize,x=0,y=22
 
\begin{macro}[init_pos][macros]
$\begin{aligned}
x_{cn} &= 177, & y_{cn} &=177, & \theta_{cn} &=290, & v_{cn} &= 3.0 \\
x_{os} &= 0,   & y_{os} &=0,   & \theta_{os} &=90,  & v_{os} &= 2.0
\end{aligned}$
\end{macro}

 
vessel = key=ownship,group=contact,depth=800,x=0,y=0,hdg=90,       \
         body_type=kayak,length=4,wid_mbody=2.091,wid_stern=1.086, \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin, \
         fill_color=gray90
 
vessel = key=contact,group=contact,depth=900,x=17.68,y=17.68,hdg=290, \
         body_type=kayak,length=4,wid_mbody=2.091,wid_stern=1.086,    \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,    \
         fill_color=beige
 
line = key=cn_north,group=ownship,depth=920,x1=0,y1=0,x2=10,y2=0, \
       line_color=gray25,line_style=solid,line_thickness=thin,    \
       endtype2=arrow
 
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=os_velocity,group=ownship,depth=920,x1=17.68,y1=17.677, \
       x2=6.404,y2=21.781,line_color=gray25,line_style=solid,      \
       line_thickness=thin,endtype2=arrow
 
line = key=tangent_line,group=ownship,depth=920,x1=17.68,y1=17.677, \
       x2=26.165,y2=9.192,line_color=gray50,line_style=dashed,      \
       line_thickness=thin,endtype2=arrow