<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE X3D PUBLIC "ISO//Web3D//DTD X3D 3.0//EN" "http://www.web3d.org/specifications/x3d-3.0.dtd">
<X3D profile='Immersive' version='3.0 xmlns:xsd='http://www.w3.org/2001/XMLSchema-instance' xsd:noNamespaceSchemaLocation =' http://www.web3d.org/specifications/x3d-3.0.xsd '>
<head>
<meta name='titlecontent='AriesInOpenWater.x3d'/>
<meta name='descriptioncontent='Contains 3 DIS-enabled Aries AUVs in an open-ocean environment. Notional bottom represented as an elevation grid corresponding to the fixed model in the AUV Dynamics module in the AUV Workbench. 4 mission tracks correspond to openWaterMission1, 2, 3, and 4 included with the workbench distribution.'/>
<meta name='creatorcontent='Duane Davis, Naval Postgraduate School (included Aries model authored by Jeff Weekley), Don Brutzman'/>
<meta name='createdcontent='18 April 2004'/>
<meta name='modifiedcontent='23 June 2014'/>
<meta name='referencecontent='AuvInBeachTanks.x3d'/>
<meta name='subjectcontent='aries auv dis'/>
<meta name='identifiercontent=' https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/AriesInOpenWater.x3d '/>
<meta name='generatorcontent='X3D-Edit 3.2, https://savage.nps.edu/X3D-Edit'/>
<meta name='licensecontent=' ../../license.html'/>
</head>
<!--

Index for ExternProtoDeclare definitions : AriesEspdu, GridXZ

Index for DEF nodes : AUV1, AUV2, AUV3, AUV4, MISSIONPATHS, TERRAINTRANSFORM, TRACKMATERIAL
-->
<Scene>
<ExternProtoDeclare name='AriesEspduappinfo='Aries unmanned underwater vehicle with IEEE DIS EspduTransform wrapper bundled together in a single prototype'
  url=' "AriesEspduPrototype.x3d#AriesEspdu" "../../Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d#AriesEspdu" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.x3d#AriesEspdu" "AriesEspduPrototype.wrl#AriesEspdu" "../../Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.wrl#AriesEspdu" "https://savage.nps.edu/Savage/Robots/UnmannedUnderwaterVehicles/AriesEspduPrototype.wrl#AriesEspdu" '>
<field name='hullNametype='SFStringaccessType='inputOutput'
 appinfo='up to 11 characters maps to EspduTransform marking'/>

<field name='hullColortype='SFColoraccessType='inputOutput'
 appinfo='color for this Aries instance'/>

<field name='siteIDtype='SFInt32accessType='inputOutput'/>
<field name='applicationIDtype='SFInt32accessType='inputOutput'/>
<field name='entityIDtype='SFInt32accessType='inputOutput'/>
<field name='readIntervaltype='SFTimeaccessType='inputOutput'
 appinfo='network read periodicity'/>

<field name='writeIntervaltype='SFTimeaccessType='inputOutput'
 appinfo='network write periodicity'/>

<field name='networkModetype='SFStringaccessType='inputOutput'
 appinfo='Override default EspduTransform value so that listening occurs by default'/>

<field name='addresstype='SFStringaccessType='inputOutput'
 appinfo='multicast address'/>

<field name='porttype='SFInt32accessType='inputOutput'
 appinfo='multicast port'/>

<field name='translationtype='SFVec3faccessType='inputOutput'
 appinfo='initial position prior to first ESPDU receipt'/>

<field name='rotationtype='SFRotationaccessType='inputOutput'
 appinfo='initial orientation prior to first ESPDU receipt'/>

<field name='traceNodeEnabledtype='SFInt32accessType='inputOutput'
 appinfo='Set to 0 to activate EspduTransformTrace'/>
</ExternProtoDeclare>
<ExternProtoDeclare name='GridXZappinfo='Line grid authoring tool to enable precise measurement of objects in 3D space - fixed position. Oriented along XZ plane size 20m by 20m.'
  url=' "../../../Savage/Tools/Authoring/GridXZPrototype.x3d#GridXZ" "https://savage.nps.edu/Savage/Tools/Authoring/GridXZPrototype.x3d#GridXZ" "../../../Savage/Tools/Authoring/GridXZPrototype.wrl#GridXZ" "https://savage.nps.edu/Savage/Tools/Authoring/GridXZPrototype.wrl#GridXZ" '>
<field name='descriptiontype='SFStringaccessType='initializeOnly'
 appinfo='Purpose of this grid displayed for overall Viewpoint'/>

<field name='labelColortype='SFColoraccessType='inputOutput'
 appinfo='color for descriptive labels at grid edges and corners'/>

<field name='scaletype='SFVec3faccessType='inputOutput'
 appinfo='default unscaled size: 10m by 10m'/>

<field name='originLabeltype='MFStringaccessType='inputOutput'/>
<field name='WestLabeltype='MFStringaccessType='inputOutput'
 appinfo='-X axis'/>

<field name='NorthWestLabeltype='MFStringaccessType='inputOutput'/>
<field name='NorthLabeltype='MFStringaccessType='inputOutput'
 appinfo='-Z axis'/>

<field name='NorthEastLabeltype='MFStringaccessType='inputOutput'/>
<field name='EastLabeltype='MFStringaccessType='inputOutput'
 appinfo='+X axis'/>

<field name='SouthEastLabeltype='MFStringaccessType='inputOutput'/>
<field name='SouthLabeltype='MFStringaccessType='inputOutput'
 appinfo='+Z axis'/>

<field name='SouthWestLabeltype='MFStringaccessType='inputOutput'/>
<field name='labelsOffsettype='SFVec3faccessType='inputOutput'
 appinfo='label location offset (in meters) to improve readability'/>
</ExternProtoDeclare>
<!-- ==================== -->
<ProtoInstance name='GridXZ'>
<fieldValue name='descriptionvalue='GridXZ for AUV in Open Ocean'/>
<fieldValue name='labelColorvalue='1 1 1'/>
<fieldValue name='scalevalue='50 50 50'/>
<fieldValue name='originLabelvalue='"origin" "0 0 0"'/>
<fieldValue name='WestLabelvalue='"West" "-Y"'/>
<fieldValue name='NorthWestLabelvalue='"500 0 -500"'/>
<fieldValue name='NorthLabelvalue='"North" "+X"'/>
<fieldValue name='NorthEastLabelvalue='"500 0 500"'/>
<fieldValue name='EastLabelvalue='"East" "+Y"'/>
<fieldValue name='SouthEastLabelvalue='"-500 0 500"'/>
<fieldValue name='SouthLabelvalue='"South" "-X"'/>
<fieldValue name='SouthWestLabelvalue='"-500 0 -500"'/>
</ProtoInstance>
<Group>
<ProtoInstance name='AriesEspduDEF='AUV1'>
<fieldValue name='hullNamevalue='AUV-1'/>
<fieldValue name='siteIDvalue='0'/>
<fieldValue name='applicationIDvalue='1'/>
<fieldValue name='entityIDvalue='0'/>
<fieldValue name='networkModevalue='networkReader'/>
<fieldValue name='readIntervalvalue='0.1'/>
<fieldValue name='translationvalue='750 -2 750'/>
<fieldValue name='traceNodeEnabledvalue='0'/>
</ProtoInstance>
<ProtoInstance name='AriesEspduDEF='AUV2'>
<fieldValue name='hullNamevalue='AUV-2'/>
<fieldValue name='siteIDvalue='0'/>
<fieldValue name='applicationIDvalue='1'/>
<fieldValue name='entityIDvalue='1'/>
<fieldValue name='networkModevalue='networkReader'/>
<fieldValue name='readIntervalvalue='0.1'/>
<fieldValue name='translationvalue='750 -4 750'/>
<fieldValue name='traceNodeEnabledvalue='0'/>
</ProtoInstance>
<ProtoInstance name='AriesEspduDEF='AUV3'>
<fieldValue name='hullNamevalue='AUV-3'/>
<fieldValue name='siteIDvalue='0'/>
<fieldValue name='applicationIDvalue='1'/>
<fieldValue name='entityIDvalue='2'/>
<fieldValue name='networkModevalue='networkReader'/>
<fieldValue name='readIntervalvalue='0.1'/>
<fieldValue name='translationvalue='750 -6 750'/>
<fieldValue name='traceNodeEnabledvalue='0'/>
</ProtoInstance>
<ProtoInstance name='AriesEspduDEF='AUV4'>
<fieldValue name='hullNamevalue='AUV-4'/>
<fieldValue name='siteIDvalue='0'/>
<fieldValue name='applicationIDvalue='1'/>
<fieldValue name='entityIDvalue='3'/>
<fieldValue name='networkModevalue='networkReader'/>
<fieldValue name='readIntervalvalue='0.1'/>
<fieldValue name='translationvalue='750 -8 750'/>
<fieldValue name='traceNodeEnabledvalue='0'/>
</ProtoInstance>
</Group>
<Transform DEF='TERRAINTRANSFORMtranslation='-750 0 -750'>
<Shape>
<Appearance>
<Material diffuseColor='0.5 0.5 0.0emissiveColor='.1 .1 0'/>
<ImageTexture
  url=' "../../../Savage/AuvWorkbench/OperatingAreas/dirt4.gif" "https://savage.nps.edu/Savage/AuvWorkbench/OperatingAreas/dirt4.gif" '/>
</Appearance>
<ElevationGrid creaseAngle='3.14xDimension='11xSpacing='150zDimension='11zSpacing='150height='-75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -50 -75 -50 -50 -75 -100 -125 -100 -75 -50 -25 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -100 -125 -100 -100 -125 -150 -175 -150 -125 -100 -75 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -50 -75 -50 -50 -75 -100 -125 -100 -75 -50 -25 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50 -100 -125 -100 -100 -125 -150 -175 -150 -125 -100 -75 -75 -100 -75 -75 -100 -125 -150 -125 -100 -75 -50'>
<TextureCoordinate point='1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 1 9 1 10 1 11 2 1 2 2 2 3 2 4 2 5 2 6 2 7 2 8 2 9 2 10 2 11 3 1 3 2 3 3 3 4 3 5 3 6 3 7 3 8 3 9 3 10 3 11 4 1 4 2 4 3 4 4 4 5 4 6 4 7 4 8 4 9 4 10 4 11 5 1 5 2 5 3 5 4 5 5 5 6 5 7 5 8 5 9 5 10 5 11 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 6 9 6 10 6 11 7 1 7 2 7 3 7 4 7 5 7 6 7 7 7 8 7 9 7 10 7 11 8 1 8 2 8 3 8 4 8 5 8 6 8 7 8 8 8 9 8 10 8 11 9 1 9 2 9 3 9 4 9 5 9 6 9 7 9 8 9 9 9 10 9 11 10 1 10 2 10 3 10 4 10 5 10 6 10 7 10 8 10 9 10 10 10 11 11 1 11 2 11 3 11 4 11 5 11 6 11 7 11 8 11 9 11 10 11 11'/>
</ElevationGrid>
</Shape>
</Transform>
<Group DEF='MISSIONPATHS'>
<Shape>
<Appearance DEF='TRACKMATERIAL'>
<Material emissiveColor='1 1 1'/>
</Appearance>
<IndexedLineSet coordIndex='0 1 2 3 4 5 6 7 8 9 10 1 0'>
<Coordinate point='0 0 0 -100 -45 -100 -500 -45 -100 -500 -45 -200 -100 -45 -200 -100 -45 -300 -500 -45 -300 -500 -45 -400 -100 -45 -400 -100 -45 -500 -500 -45 -500'/>
</IndexedLineSet>
</Shape>
<Shape>
<Appearance USE='TRACKMATERIAL'/>
<IndexedLineSet coordIndex='0 1 2 3 4 5 6 7 8 9 10 1 0'>
<Coordinate point='0 0 0 100 -45 -100 500 -45 -100 500 -45 -200 100 -45 -200 100 -45 -300 500 -45 -300 500 -45 -400 100 -45 -400 100 -45 -500 500 -45 -500'/>
</IndexedLineSet>
</Shape>
<Shape>
<Appearance USE='TRACKMATERIAL'/>
<IndexedLineSet coordIndex='0 1 2 3 4 5 6 7 8 9 10 1 0'>
<Coordinate point='0 0 0 100 -45 100 500 -45 100 500 -45 200 100 -45 200 100 -45 300 500 -45 300 500 -45 400 100 -45 400 100 -45 500 500 -45 500'/>
</IndexedLineSet>
</Shape>
<Shape>
<Appearance USE='TRACKMATERIAL'/>
<IndexedLineSet coordIndex='0 1 2 3 4 5 6 7 8 9 10 1 0'>
<Coordinate point='0 0 0 -100 -45 100 -500 -45 100 -500 -45 200 -100 -45 200 -100 -45 300 -500 -45 300 -500 -45 400 -100 -45 400 -100 -45 500 -500 -45 500'/>
</IndexedLineSet>
</Shape>
</Group>
</Scene>
</X3D>
<!--

Index for ExternProtoDeclare definitions : AriesEspdu, GridXZ

Index for DEF nodes : AUV1, AUV2, AUV3, AUV4, MISSIONPATHS, TERRAINTRANSFORM, TRACKMATERIAL
-->

<!-- Color key: <X3dNode DEF='idName' field='value'/> matches <XmlElement DEF='idName' attribute='value'/>
(Light blue background: behavior node) (Grey background: inserted documentation) (Magenta background: X3D Extensibility)
    <Prototype name='ProtoName'> <field name='fieldName'/> </Prototype> -->

<!-- Additional help information about X3D scenes: X3D Resources, X3D Scene Authoring Hints and X3D Tooltips -->