Cilia-based locomotion is the major form of locomotion for microscopic planktonic organisms in the ocean. Given their negative buoyancy, these organisms must control ciliary activity to maintain an appropriate depth. The neuronal bases of depth regulation in ciliary swimmers are unknown. To gain insights into depth regulation we studied ciliary locomotor control in the planktonic larva of the marine annelid, Platynereis. We found several neuropeptides expressed in distinct sensory neurons that innervate locomotor cilia. Neuropeptides altered ciliary beat frequency and the rate of calcium-evoked ciliary arrests. These changes influenced larval orientation, vertical swimming, and sinking, resulting in upward or downward shifts in the steady-state vertical distribution of larvae. Our findings indicate that Platynereis larvae have depth-regulating peptidergic neurons that directly translate sensory inputs into locomotor output on effector cilia. We propose that the simple circuitry found in these ciliated larvae represents an ancestral state in nervous system evolution.neural circuit | zooplankton | sensory-motor neuron | FMRFamide-related peptides T wo different types of locomotor systems are present in animals, one muscle based and the other cilia based. The neuronal control of muscle-based motor systems is well understood from studies on terrestrial model organisms. In contrast, our knowledge of the neuronal control of ciliary locomotion is limited, even though cilia-driven locomotion is prominent in the majority of animal phyla (1).Ciliary swimming in open water is widespread among the larval stages of marine invertebrates, including sponges, cnidarians, and many protostomes and deuterostomes (2-5). Freely swimming ciliated larvae often spend days to months as part of the zooplankton (1, 6). The primary axis for ciliated plankton is vertical, and body orientation is maintained either by passive (buoyancy) or active (gravitaxis, phototaxis) mechanisms. When cilia beat, larvae swim upward, and when cilia cease beating, the negatively buoyant larvae sink. During swimming, the thrust exerted on the body is proportional to the beating frequency of cilia (7-9). The alternation of active upward swimming and passive sinking, together with swimming speed and sinking rate, is thought to determine vertical distribution in the water (8). Because several environmental parameters, including water temperature, light intensity, and phytoplankton abundance, change with depth, swimming depth will influence the speed of larval development, the magnitude of UV damage, and the success of larval feeding and settlement. To stay at an appropriate depth, planktonic swimmers must therefore sense environmental cues and regulate ciliary beating.The ciliated larvae of the marine annelid Platynereis dumerilii provide an accessible model for the study of ciliary swimming in marine plankton (10). Platynereis can be cultured in the laboratory, and thousands of synchronously developing larvae can be obtained daily year-round (11). Platynereis ha...