Fig. 3

Example of a reconstructed track. Shown on the left are (top) the full, most probable track (i.e. the posterior means of x) and position fixes of humpback whale 11 and (bottom) a detailed view of sections of the track. Visual position fixes were derived from ranges that were estimated by eye or measured using a laser range finder (LRF). Information only shown in the bottom panel: the GPS positions of the observation boat, 10 % of the computed whale track realisations, and the most probable whale positions at the times of the fixes (t _j ) with their 95 % confidence ellipses [109]. Movement parameters of the track are shown in the panels on the right: (from top to bottom) the whale’s body pitch and heading angles measured in the Earth frame, the whale’s speed-through-water derived from flow noise, the uncorrected velocity of the whale, the posterior mean velocity correction with 95 % credibility intervals (CIs), and the depth of the whale (z-axis coordinate of its position)