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The zoo said Kala gave birth naturally with the baby's father, Jock, nearby. Her first baby died last year a week after it was born.
Lynsey Bugg, the zoo's curator of mammals, said: "We knew we were having a baby gorilla due and we've been on baby watch for a little while. On Tuesday Kala looked nice and comfortable and not causing us any concerns or worries. "I came in [on Wednesday] morning to find a brand new baby in the house. It was lovely."
She said staff had been "on tenterhooks" following the death of Kala's first baby last September, a week after she underwent an emergency caesarean.