Whales are a widely distributed and diverse group of fully aquatic placental marine mammals. As an informal and colloquial grouping, they correspond to large members of the infraorder Cetacea, i.e. all cetaceans apart from dolphins and porpoises. Dolphins and porpoises may be considered whales from a formal, cladistic perspective. Whales, dolphins and porpoises belong to the order Cetartiodactyla, which consists of even-toed ungulates. Their closest non-cetacean living relatives are the hippopotamuses, from which they and other cetaceans diverged about 54 million years ago. The two parvorders of whales, baleen whales (Mysticeti) and toothed whales (Odontoceti), are thought to have had their last common ancestor around 34 million years ago. Mysticetes include four extant (living) families: Balaenopteridae (the rorquals), Balaenidae (right whales), Cetotheriidae (the pygmy right whale), and Eschrichtiidae (the grey whale). Odontocetes include the Monodontidae (belugas and narwhals), Physeteridae (the sperm whale), Kogiidae (the dwarf and pygmy sperm whale), and Ziphiidae (the beaked whales), as well as the six families of dolphins and porpoises which are not considered whales in the informal sense. Whales are fully aquatic, open-ocean creatures: they can feed, mate, give birth, suckle and raise their young at sea. Whales range in size from the and dwarf sperm whale to the and blue whale, which is the largest known animal that has ever lived. The sperm whale is the largest toothed predator on Earth. Several whale species exhibit sexual dimorphism, in that the females are larger than males. Baleen whales have no teeth; instead, they have plates of baleen, fringe-like structures that enable them to expel the huge mouthfuls of water they take in while retaining the krill and plankton they feed on. Because their heads are enormous—making up as much as 40% of their total body mass—and they have throat pleats that enable them to expand their mouths, they are able to take huge quantities of water into their mouth at a time. Baleen whales also have a well-developed sense of smell. Toothed whales, in contrast, have conical teeth adapted to catching fish or squid. They also have such keen hearing—whether above or below the surface of the water—that some can survive even if they are blind. Some species, such as sperm whales, are particularly well adapted for diving to great depths to catch squid and other favoured prey. Whales evolved from land-living mammals, and must regularly surface to breathe air, although they can remain underwater