use strict;
use warnings;
use Regexp::Common qw/net/;

while (<DATA>) {
	if ( my ( $firstIP, $secondIP ) = /($RE{net}{IPv4})/g ) {
		print "FirstIP: $firstIP\nSecondIP: $secondIP\n\n";
	}
}

__DATA__ 
Sample data Mar 10 07:42:38 DR-FW-1 : %ASA-6-305011: Built dynamic UDP translation from inside:172.28.17.130/3324 to outside(internet-traffic):69.176.102.83/24295
Sample data Mar 10 07:42:38 DR-FW-1 : %ASA-6-305011: Built dynamic UDP translation from inside:155.0.42.42/3324 to outside(internet-traffic):71.200.20.7/24295