Fig. 6. (A) An overhead view of an example flight through the maneuvering course (see Fig. 1) with numbered wingbeats, showing instantaneous heading at wingbeat 0. The numbered wingbeats correspond to the numbers between sections B and C. (B) Change in heading through time; gray shading indicates downstroke. (C) Rate of change in heading, the derivative of section B with respect to time. Changes in heading occur predominantly during downstroke.