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For more on marking an answer as the "Best Answer", please visit our FAQ.It's seen probably as being a social signal: 'I'm bored with what you are saying and it's time to change the subject'.
Another fact (and forgive me, but I find this FASCINATING) is that susceptibility to contagious yawning varies from person to person: Some will not yawn at all if you yawn, others can't help but doing it. I lie at the upper end of the spectrum.
Now (here's the fascinating bit): take a big bunch of people (say 1000), and test them all for contagious yawning: you get a fairly even spread. Then test them for a battery of tests of 'empathy-like tests' (basically lots of things found to be deficient in autistic people: understanding faux-pas, for example). What you find is that the extent to which you are a victim of contagious yawning can be fairly well predicted from your score on the 'empathy-like' test: if you contagiously yawn more easily, you are more likely to 'get' faux-pas situations (those odd situations where it's not simple to state why you DON'T do something:you just 'don't').
Why is this? Hard to work out. One thing is for sure: when you yawn, a bunch of neurons fire off in your head, to tell your face how to do it. If I yawn AT you exactly the same neurons fire (ie you almost 'yawn' too) but the front of your brain tells the body not to carry out the action. Curiously, there seems to be a disturbance in the functioning of these 'mirror' neurons in autistic people. (I believe the paper on this is by Platek (sp), available on the web perhaps).
It is on the web:
http://webperso.easyconnect.fr/baillement/contagion-platek.html
Truly fascinating.
That'd leave us not knowing why foetuses yawn but realising that it's innate (or very very quickly learned) and that maybe the function of a yawn changes later to become a social signal (or a gulp of air).
Sorry, this deviates completely from the point of the original question and isn't even *that* interesting!