Each panel represents a single obstacle test flight and plots the hawk’s measured flight trajectory (dark blue) in pursuit of the lure (dark red) up to the point of capture (black dot). The measured data are compared to simulations of the hawk’s trajectory (light blue) under the refined mixed guidance law (Equation 1), with best-fitting parameters N=0.75, K=1.25s-1, and tau=0.01s, and (1) the initial deviation angle, delta0, matched to the value we had measured (dashed line) (2) with the initial deviation angle, delta0, set so that delta0=0 (solid line), where the displayed values of epsilon-bar show the mean prediction error for the simulation with delta0=0. Hanging rope obstacles are plotted as gray dots. The lefthand panels show the four longest flights; the righthand panels show the four flights with the lowest mean prediction error relative to the total distance flown, for flights >9 m in length. Grid spacing: 1 m.
