The hydrophones team is responsible for locating the acoustic pingers placed in the pool and using that information to estimate the relative position of Alfie. In order to achieve this goal, the pinger signal must go through a lot of analog filtering and amplification including a multiple feedback band pass design and a charge amplifier. These signals then get passed through an ADC to our microcontroller, the Teensy, and finally using a USB isolator, the signal is inputted into the our main computer, the Jetson AGX Xavier. The hydrophones algorithm, ESPRIT, then uses a covariance matrix from the signals from each of the hydrophones to determine a signal direction. This information is then sent to SLAM for processing.