Sighting by two backpackers witnessed in Humboldt County, California

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Saw a form walking upright at a distance of 200+ yards. We were a little excited (more like scared shitless). There was enough light to just make out that whatever it was, was moving on two legs. We found where it had gouged out the soft earth on the stream it crossed. No discernible footprints, but whatever made the gouge was big. We had to WAG (wild-ass-guess) at the length, over 19 inches. It was longer than the tip of my extended fingers to my elbow. The grass going across the meadow didn't allow for footprints but was pressed down several hours later. We didn't follow the trail towards the trees!! It had been watching us for around 15 minutes, give or take 5. I was asleep when my friend woke me up. Said he heard something moving above us on the exposed rock above our camp. He had his 9mm (personal protection from the typical axe-murderer you meet while camping) in hand and was a little wound up. We listened to it move around with the occasional skip like someone was jumping a s...