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Fig. 3. Timing of various stages of the wing and foot stroke cycle. Wing (black
circles) and foot (white circles) stokes are divided into three stages, which
are illustrated in Fig. 2 and
described in the text. Thrust from foot propulsion ubiquitously corresponded
with the transition between the upstroke and downstroke of the wings, when
drag is probably greatest because of the large angle of attack of the wings.
Correspondence in timing between power and recover phases of wing and foot
propulsion could therefore be important in maintaining steady speed,
minimizing the cost of drag during diving.
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