Figure 3.

Bowhead whale non-foraging dive. (a) Dive profile showing the estimated Kalman-filtered speed in the colour bar. (b) The cyclic variation in pitch angle shows the bouts of fluke strokes, typical of a stroke-and-glide gait. (c) Spectrogram of sound recording showing the low-frequency sound recorded during descent and ascent of a non-foraging dive (FFT 1024). (d) Speed estimated from the change in depth corrected for pitch angle, filtered with a Kalman filter. (e) Pitch angle (blue) and roll angle (green).