least during a stage of their life cycle. The following cladogram summarizes the systematic relationships between the Olfactores (vertebrates and tunicates) and the Cephalochordata. First vertebrates Vertebrates originated during the Cambrian explosion, which saw a rise in organism diversity. The earliest known vertebrates belongs to the Chengjiang biota and lived about 518 million years ago. These include Haikouichthys, Myllokunmingia, Zhongjianichthys, and probably Haikouella. Unlike the other fauna that dominated the Cambrian, these groups had the basic vertebrate body plan: a notochord, rudimentary vertebrae, and a well-defined head and tail. All of these early vertebrates lacked jaws in the common sense and relied on filter feeding close to the seabed. A vertebrate group of uncertain phylogeny, small eel-like conodonts, are known from microfossils of their paired tooth segments from the late Cambrian to the end of the Triassic. From fish to amphibians The first jawed vertebrates may have appeared in the late Ordovician (~445 mya) and became common in the Devonian, often known as the "Age of Fishes". The two groups of bony fishes, the actinopterygii and sarcopterygii, evolved and became common. The Devonian also saw the demise of virtually all jawless fishes save for lampreys and hagfish, as well as the Placodermi, a group of armoured fish that dominated the entirety of that period since the late Silurian as well as the eurypterids, dominant animals of the preceding Silurian, and the anomalocarids. By the middle of the Devonian, several droughts and anoxic events as well as oceanic competition will lead a lineage of sarcopterygii to leave water, eventually establishing themselves as terrestrial tetrapods in the succeeding Carboniferous. Mesozoic vertebrates Amniotes branched from amphibious tetrapods early in the Carboniferous period. The synapsid amniotes were dominant during the late Paleozoic, the Permian, while diapsid amniotes became dominant during the Mesozoic. In the sea, the teleosts and sharks became dominant. Mesothermic synapsids called cynodonts gave rise to endothermic mammals and diapsids called dinosaurs eventually gave rise to endothermic birds, both in the Jurassic. After all dinosaurs except birds went extinct by the end of the Cretaceous, birds and mammals diversified and filled their niches. After the Mesozoic The Cenozoic world has seen great diversification of bony fishes, amphibians, reptiles, birds and mammals. Over half of all living vertebrate species (about 32,000 species) are fish (non-tetrapod craniates), a diverse set of lineages that inhabit all the world's aquatic ecosystems, from snow minnows (Cypriniformes) in