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When he was apprehended on Atrios, the Doctor gave the whistle to the Marshal. He in turn gave it to his aide Shapp, who blew it. As they could not hear it, the Marshal declared it useless. However, K9 was alerted by it. (TV: The Armageddon Factor)
Romana II kept the whistle on her person. In his curiosity, Torvin blew the whistle when Romana showed him how. He was unaware of its function and never made the connection between it and the appearance of K9. (TV: The Creature from the Pit) The Doctor again used it while on Skonnos to summon K9. (TV: The Horns of Nimon)
Years after K9 departed the TARDIS, the Fifth Doctor used his dog whistle to summon a werewolf pack to him. (AUDIO: Loups-Garoux) The Sixth Doctor used it to control the Baryonyx in Pease Pottage in 1987. (AUDIO: The Wrong Doctors)
K9 Mark 2 gave dog whistles to his three teenage friends, Starkey, Darius Pike and Jorjie Turner. Unlike normal dog whistles, these operated more like mobile phones. (TV: Regeneration, Curse of Anubis, Aeolian)