Bark: territorial for most, can be altered in tone and amplitude to mean different things. typically directed at unfamiliar people or dogs, this is selected for by humans.
Whine: care soliciting behavior (signifies pain, fright, or mild frustration).
Howl: not well deciphered, probably how dogs communicate among themselves, distinguished between puppy and adult howls.
Growl: Aggressive or distance-increasing call of dogs