grid = key=master,group=grid,depth=1,widthcm=16,heightcm=8,gcell=20,   \
       xmarg=1,ymarg=1,shrink=false,rounded=true,                      \
       border_thickness=ultra thin,border_color=menublue,              \
       gback_color=gray99,gline_thickness=very thin,gline_color=gray97
 
panel = key=info_blue_panel,group=info_blue,depth=2,x=-79,y=29,         \
        widthcm=2.5,heightcm=1,rounded=true,border_thickness=very thin, \
        border_color=black,panel_color=beige
 
panel = key=info_red_panel,group=info_red,depth=2,x=54,y=29,            \
        widthcm=2.5,heightcm=1,rounded=true,border_thickness=very thin, \
        border_color=black,panel_color=beige
 
swarmpath = key=,group=,depth=100,begtime=0,endtime=0,nowtime=0
 
frame = key=framekey,group=frame,depth=100,xl=-80,xh=80,yl=-40,yh=40
 
circle = key=home_zone_blue,group=playing_field,depth=100,x=60,y=0,     \
         radius=10,line_color=black,fill_color=empty,line_style=dashed, \
         line_thickness=very thin
 
circle = key=home_zone_red,group=playing_field,depth=100,x=-60,y=0, \
         radius=10,line_color=gray50,fill_color=empty,              \
         line_style=dashed,line_thickness=very thin
 
label = key=info_blue_label1,group=info_blue,depth=100,              \
        label=Blue Robots,label_color=black,label_size=tiny,x=-62.5, \
        y=36
 
label = key=info_blue_label2,group=info_blue,depth=100,              \
        label=Blue Humans,label_color=black,label_size=tiny,x=-62.5, \
        y=32
 
label = key=info_red_label1,group=info_red,depth=100,label=Red Robots, \
        label_color=black,label_size=tiny,x=62.5,y=36
 
label = key=info_red_label2,group=info_red,depth=100,label=Red Humans, \
        label_color=black,label_size=tiny,x=62.5,y=32
 
label = key=ship_label,group=contact,depth=205,label=contact, \
        label_color=black,label_size=footnotesize,x=-40,y=-12
 
vessel = key=human_blue_key1,group=info_blue,depth=900,x=-76,y=32,      \
         hdg=45,body_type=kayak,length=4,wid_mbody=1.6,wid_stern=1.086, \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,      \
         fill_color=lightskyblue
 
vessel = key=human_blue_key2,group=info_blue,depth=900,x=-72.5,y=32,    \
         hdg=45,body_type=kayak,length=4,wid_mbody=1.6,wid_stern=1.086, \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,      \
         fill_color=lightskyblue
 
vessel = key=human_red_key1,group=info_red,depth=900,x=76,y=32,hdg=45, \
         body_type=kayak,length=4,wid_mbody=1.6,wid_stern=1.086,       \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,     \
         fill_color=pink
 
vessel = key=human_red_key2,group=info_red,depth=900,x=72.5,y=32,       \
         hdg=45,body_type=kayak,length=4,wid_mbody=1.6,wid_stern=1.086, \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,      \
         fill_color=pink
 
vessel = key=human_blue_one,group=mokai,depth=900,x=-50,y=20,hdg=24, \
         body_type=kayak,length=4.5,wid_mbody=1.8,wid_stern=1.222,   \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,   \
         fill_color=lightskyblue
 
vessel = key=robot_red_one,group=robots,depth=900,x=30,y=10,hdg=270, \
         body_type=m200,length=2.4,wid_mbody=1.728,wid_stern=0.13,   \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,   \
         fill_color=pink
 
vessel = key=robot_red_two,group=robots,depth=900,x=40,y=20,hdg=315, \
         body_type=m200,length=2.4,wid_mbody=1.728,wid_stern=0.13,   \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,   \
         fill_color=pink
 
vessel = key=robot_blue_one,group=robots,depth=900,x=-30,y=20,hdg=80, \
         body_type=m200,length=2.4,wid_mbody=1.728,wid_stern=0.13,    \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,    \
         fill_color=dodgerblue
 
vessel = key=robot_blue_key1,group=info_blue,depth=900,x=-76,y=36, \
         hdg=45,body_type=m200,length=2.4,wid_mbody=1.728,         \
         wid_stern=0.13,pct_mbody=0.5,line_color=black,            \
         line_thickness=ultra thin,fill_color=dodgerblue
 
vessel = key=robot_blue_key2,group=info_blue,depth=900,x=-72.5,y=36, \
         hdg=45,body_type=m200,length=2.4,wid_mbody=1.728,           \
         wid_stern=0.13,pct_mbody=0.5,line_color=black,              \
         line_thickness=ultra thin,fill_color=dodgerblue
 
vessel = key=robot_red_key1,group=info_red,depth=900,x=76,y=36,hdg=45, \
         body_type=m200,length=2.4,wid_mbody=1.728,wid_stern=0.13,     \
         pct_mbody=0.5,line_color=black,line_thickness=ultra thin,     \
         fill_color=pink
 
vessel = key=robot_red_key2,group=info_red,depth=900,x=72.5,y=36, \
         hdg=45,body_type=m200,length=2.4,wid_mbody=1.728,        \
         wid_stern=0.13,pct_mbody=0.5,line_color=black,           \
         line_thickness=ultra thin,fill_color=pink
 
point = key=flag_red,group=playing_field,depth=904,x=-60,y=0, \
        point_size=0.05,point_color=red
 
point = key=flag_blue,group=playing_field,depth=904,x=60,y=0, \
        point_size=0.05,point_color=blue
 
line = key=midfield,group=playing_field,depth=905,x1=0,y1=40,x2=0,    \
       y2=-40,line_color=gray25,line_style=dashed,line_thickness=thin
 
label = key=ship_position,group=ownship,depth=905,    \
        label={$x_{os}$, $y_{os}$},label_color=black, \
        label_size=footnotesize,x=-20,y=-1.8
 
label = key=ship_position,group=contact,depth=905,    \
        label={$x_{cn}$, $y_{cn}$},label_color=black, \
        label_size=footnotesize,x=-26.9,y=-30