Our hydrophones are a powerful tool for figuring out where we are in the water. Using 4 hydrophones, we can calculated our bearing to the pinger. For details, see Pinger Bearing.

• 1 tub of water
• 1 pinger
• Hydrophone Test Rig

• Pinger at one end of tub
• Hydrophones at other end of tub
• If lots of noise in readings observed, can place towels around tub

1. ssh into the sub
2. roslaunch robosub cobalt.launch
3. rosrun robosub pinger_bearing
4. rostopic echo /hydrophones/bearing
5. Manipulate hydrophones & Observe bearing readings