Fig. 6. A representative foraging dive, including five lunges at depth. Black dots correspond to depth over the course of the dive cycle. Fluking patterns are depicted by the orange line. Red and blue lines show changes of body pitch and roll, respectively. Instantaneous speed of the body estimated by flow noise (purple line) and from the kinematics of the body (yellow dots). Note that roll was not estimated during ascent and descent whereas instantaneous speed from the kinematics of the body was only calculated during these particular phases of the dive. Also note that there may be a lunge that occurs at the end of the initial descent.