The disclosure relates to communication of data in a wireless communication system that enables relaying of data between an originating node and a destined node. A slave system attitude is determined using measurements of acceleration and angular rates of the slave inertial measurement system relative to a slave system navigation reference frame and comparing the slave system attitude to the master reference system attitude to determine an attitude difference. The matrix switch object can process the multiple inputs to provide a primary output. Each of the measurement signals produces an electromagnetic field which travels along the conductive element and is reflected when it reaches the surface of material in the vessel. Methods of identifying critical area include common run, geometry mapping, and Voronoi diagrams.