Fig. 9. Detailed kinematics of the body and fluke during four consecutive lateral lunges at depth. The kinematic parameters presented over time include fluking dynamics (orange), acceleration (green) and speed (purple) of the body, and body pitch (red) and roll (blue). Fluking is derived from the small-scale, dynamic oscillations in the accelerometer signals. Dynamic acceleration values are presented with negative peaks pointing up and positive peaks pointing down to intuitively show upstrokes and downstrokes of the fluke, respectively (see Materials and methods for explanation). Instantaneous speed of the body is estimated from the magnitude of flow noise measured by the hydrophone. Body orientation is resolved in two dimensions from the changes in static acceleration along two orthogonal axes. Associated maxima (filled circles), minima (open circles) and zero values (crosses) of each kinematic parameter are superimposed onto the dive profile in the upper panel to illustrate the temporal coordination of rotational torques with translational accelerations. The onset of body acceleration and rotation are coincident with each fluking bout. The body becomes level prior to each lunge. Jaw opening is assumed to take place at maximum speed (3.0±0.5 m s^–1; N=62; purple circles). Fluking continues after maximum velocity occurs. Maximum body deceleration and roll maxima (87±18°; N=62) occur concomitantly (open green circle and filled blue circle). The kinematic sequence is completed as the body reaches its minimum speed and comes to a maximum pitch angle.