Sighting of blue oval UFO and possible Bigfoot or humanoid creature

Date was approximately July 1st, 1972.  I was at Boy Scout summer camp in a heavily wooded area outside of Goshen, Wisconsin.  Two fellow Scouts and I were walking back to our campsite after a campfire meeting, late at night.
We saw a dark shape silhouetted in the middle of the trail, very tall, blocking our way.  Thinking it was a bear, we stayed frozen, stock still. We had been told that if we ever encountered a bear,  the worst thing to do would be to try and run.  A full-grown bear can out-run a human  easily.
The ‘bear’ was making sounds, but more like a dog’s barking than anything else: very high-pitched.  The smell was foul, like something rotten.  We still couldn’t get close enough to get a good look.
In the next few minutes, an oval blue shape appeared directly overhead, about 100 yards above us. It didn’t have a clear outline but was more like a vibrating glow.  Reminded me of the blue flame from a gas stove.
We went back and forth, first staring at the shape in the middle of the trail, then staring up at the blue light in the sky, for what seemed like a long time.  Probably just a few minutes, though.  The thing standing in the trail began to make a rasping breathing sound.  We were scared out of our wits.
Then, in a flash, the creature took off running, upright, down the trail.  The blue light hung in the air for a brief second, then shot like a rocket in the same direction as the creature.
We were really freaked out, and promised not to ever tell anyone about it, because no one would ever believe it.  As far as I know,this will be the first time that anyone besides the three of us will ever be aware of this incident.  Was is it in fact a bear, or something else ?  The connection between the creature and the blue light ?  Hard to say, no one will ever explain it.  I do know this.  Three of us saw and heard exactly the same thing(s).
Very high-pitched.  but a kind of chirping sound
Witness elects to remain totally anonymous; provides no contact information.  PD