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  <head>
    <meta content='RemusSideScan.x3d' name='title'/>
    <meta content='REMUS Autonomous Underwater Vehicle (AUV) with side-scan sonar beams.' name='description'/>
    <meta content='Jeffrey Weekley and Don Brutzman' name='creator'/>
    <meta content='12 March 2001' name='created'/>
    <meta content='20 October 2019' name='modified'/>
    <meta content='RemusAssetTrackPlayback3d.jpg' name='Image'/>
    <meta content='https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/RemusSideScan.x3d' name='identifier'/>
    <meta content='X3D-Edit 3.2, https://www.web3d.org/x3d/tools/X3D-Edit' name='generator'/>
    <meta content='../../license.html' name='license'/>
  </head>
  <Scene>
    <WorldInfo info='"Only unclassified open resources were used to create this model."' title='REMUS Side Scan'/>
    <ExternProtoDeclare appinfo='Produce wireframe or semi-transparent sonar sidescan beams' name='SideScanSonar' url='"../../../Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.x3d#SideScanSonar" "https://www.web3d.org/x3d/content/examples/Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.x3d#SideScanSonar" "../../../Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.wrl#SideScanSonar" "https://www.web3d.org/x3d/content/examples/Savage/CommunicationsAndSensors/Sonar/SideScanSonarPrototype.wrl#SideScanSonar"'>
      <field accessType='inputOnly' appinfo='vertical distance above bottom in meters along y axis' name='altitude' type='SFFloat'/>
      <field accessType='initializeOnly' appinfo='default vertical distance above bottom in meters along y axis' name='defaultAltitude' type='SFFloat'/>
      <field accessType='initializeOnly' appinfo='maximum effective altitude of sidescan sonar above bottom' name='maxAltitude' type='SFFloat'/>
      <field accessType='initializeOnly' appinfo='distance in meters from nadir to rightmost/leftmost edge when operating at defaultAltitude above the bottom' name='defaultCrossTrackHalfRange' type='SFFloat'/>
      <field accessType='initializeOnly' appinfo='longitudinal width of a single return' name='defaultTrackWidthMeters' type='SFFloat'/>
      <field accessType='initializeOnly' appinfo='width (or diameter) of vehicle carrying port/starboard sidescan sonar transducers' name='vehicleWidthMeters' type='SFFloat'/>
      <field accessType='inputOnly' appinfo='(communications) whether transmitted signal is in contact with receiver or (sensor) is a target return detected?' name='contact' type='SFBool'/>
      <field accessType='initializeOnly' appinfo='draw lines for tracking shape?' name='wireframe' type='SFBool'/>
      <field accessType='initializeOnly' appinfo='draw solid tracking shape?' name='solid' type='SFBool'/>
      <field accessType='initializeOnly' appinfo='rendering color when contact=true' name='contactColor' type='SFColor'/>
      <field accessType='initializeOnly' appinfo='rendering color when contact=false' name='noContactColor' type='SFColor'/>
      <field accessType='inputOutput' appinfo='1 = fully transparent wireframe only' name='transparency' type='SFFloat'/>
    </ExternProtoDeclare>
    <Background skyColor='0.2 0.7 0.7'/>
    <Viewpoint description='Remus from ahead 30m' orientation='0 1 0 1.57' position='30 0.1 0'/>
    <!-- This file builds the REMUS Autonomous Underwater Vehicle (AUV). The dimensions were originally provided in English units and is converted to metric using a scale that 39.3 inches equal one meter. -->
    <Inline DEF='Remus' url='"Remus.x3d" "../../../Savage/Robots/UnmannedUnderwaterVehicles/Remus.x3d" "https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/Remus.x3d" "Remus.wrl" "../../../Savage/Robots/UnmannedUnderwaterVehicles/Remus.wrl" "https://www.web3d.org/x3d/content/examples/Savage/Robots/UnmannedUnderwaterVehicles/Remus.wrl"'/>
    <!-- Remus maxAltitude typically 10% of swath width. -->
    <Transform translation='0.04 0 0'>
      <ProtoInstance DEF='SideScanSonarBeam' name='SideScanSonar'>
        <fieldValue name='defaultTrackWidthMeters' value='1'/>
        <fieldValue name='transparency' value='0.5'/>
        <fieldValue name='wireframe' value='true'/>
        <fieldValue name='solid' value='true'/>
      </ProtoInstance>
    </Transform>
    <!-- Authoring assist, hidden under Switch whichChoice=0 -->
    <Switch whichChoice='-1'>
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          <Inline DEF='CoordinateAxes' url='"../../../Savage/Tools/Authoring/CoordinateAxes.x3d" "../../../X3dForWebAuthors/Chapter03Grouping/CoordinateAxes.x3d" "https://www.web3d.org/x3d/content/examples/Savage/Tools/Authoring/CoordinateAxes.x3d" "https://www.web3d.org/x3d/content/examples/X3dForWebAuthors/Chapter03Grouping/CoordinateAxes.x3d" "../../../Savage/Tools/Authoring/CoordinateAxes.wrl" "../../../X3dForWebAuthors/Chapter03Grouping/CoordinateAxes.wrl" "https://www.web3d.org/x3d/content/examples/Savage/Tools/Authoring/CoordinateAxes.wrl" "https://www.web3d.org/x3d/content/examples/X3dForWebAuthors/Chapter03Grouping/CoordinateAxes.wrl"'/>
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        <Transform scale='0.1 0.1 0.1'>
          <Inline DEF='Grid' url='"../../../Savage/Tools/Authoring/GridXZ_20x20Movable.x3d" "https://www.web3d.org/x3d/content/examples/Savage/Tools/Authoring/GridXZ_20x20Movable.x3d" "../../../Savage/Tools/Authoring/GridXZ_20x20Movable.wrl" "https://www.web3d.org/x3d/content/examples/Savage/Tools/Authoring/GridXZ_20x20Movable.wrl"'/>
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        <Transform scale='3 3 3' translation='0 -3 0'>
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