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

1. Pinger at one end of tub
2. Hydrophones at other end of tub
3. 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