Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 117 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 117 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 19 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2817 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2077798.9 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2077798.9

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 14 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 117 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 204756,6207.849,-1035.172,39,1.6,39,-10.3 TGT_NAME IFRS1K

_CALLS 4 TGT_LATLONG 6210.000,-1055.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.145,-0.168

_SM_DEPTHo 1.33 KALMAN_X -31737.5,554.1,-2586.8,-45179.8,11749.4

_SM_ANGLEo -55.1 KALMAN_Y 125528.0,-517.9,-5251.7,-64880.2,37646.1

GPS2 210457,6207.826,-1035.373,12,1.7,12,-10.3 MHEAD_RNG_PITCHd_Wd 231.1,17443,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.025562 ALTIM_BOTTOM_PING 851.1,103.8

SM_CCo 23526,35.08,0.615,2,0,1594,300.00 _24V_AH 23.5,22.168

SM_GC 1.30,0.00,0.00,35.08,0.000,0.000,0.615,66,2404,1594,-10.78,0.11,300.00 _10V_AH 10.2,10.114

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 56896,1139

TT8_MAMPS 0.023777 CFSIZE 260165632,252674048

HUMID 2089 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,2,0

TCM_TEMP 17.50 GPS 021207,034016,6206.949,-1043.934,41,2.2,60,-10.4

XPDR_PINGS 44

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 102.05 SBE_CT 796 24 449.14

Roll_motor 125 82 241.37 SBE_O2 820 19 366.37

VBD_pump_during_apogee 328 1358 10486.18 WL_BB2F 617 105 1522.81

VBD_pump_during_surface 35 615 507.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 130 103 315.57 nil 0 0 0.00

Iridium_during_connect 357 160 1342.76 nil 0 0 0.00

Iridium_during_xfer 249 223 1307.65

Transponder_ping 18 420 182.59

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.40

TT8 1998 19 403.56

LPSleep 18862 2 421.35

TT8_Active 521 19 105.31

TT8_Sampling 2303 39 934.93

TT8_CF8 910 45 425.12

TT8_Kalman 33 81 27.84

Analog_circuits 1628 12 199.34

GPS_charging 0 0 0.00

Compass 2256 8 184.15

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.85 -146.6 0.0 0.0 0 98 0.00 0.00 -77.05 0.000 2 0.000 0.000 70 2404 3276

101 -0.85 -146.6 4.2 -4.2 4 123 12.10 2.58 -2.85 0.000 4 0.172 0.082 2218 3771 3418

352 -0.85 -146.6 37.9 -11.6 15 357 0.00 2.53 0.00 0.000 6 0.000 0.050 2219 2396 3418

679 -0.85 -146.6 66.4 -8.2 31 680 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2396 3418

989 -0.85 -146.6 102.8 -11.5 46 993 0.00 2.62 0.00 0.000 4 0.000 0.067 2219 982 3417

1049 -0.85 -146.6 108.5 -8.5 49 1054 0.00 2.58 0.00 0.000 6 0.000 0.052 2219 2404 3417

1375 -0.85 -146.6 131.9 -8.3 65 1376 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3418

1684 -0.85 -146.6 162.7 -11.3 80 1685 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3417

1993 -0.85 -146.6 190.4 -8.3 95 1997 0.00 2.62 0.00 0.000 4 0.000 0.065 2219 984 3417

2114 -0.85 -146.6 198.9 -7.2 100 2121 0.00 2.60 0.00 0.000 6 0.000 0.053 2219 2397 3417

2430 -0.85 -146.6 222.3 -7.4 116 2432 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2397 3417

2740 -0.85 -146.6 245.6 -7.4 131 2741 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2396 3417

3049 -0.85 -146.6 269.3 -8.0 146 3053 0.00 2.62 0.00 0.000 4 0.000 0.066 2219 982 3417

3103 -0.85 -146.6 274.0 -8.6 148 3110 0.00 2.60 0.00 0.000 6 0.000 0.053 2219 2397 3418

3419 -0.85 -146.6 300.6 -8.2 164 3420 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2397 3417

3728 -0.85 -146.6 324.6 -7.2 179 3732 0.00 2.62 0.00 0.000 4 0.000 0.067 2219 982 3417

3815 -0.85 -146.6 331.3 -7.2 183 3820 0.00 2.62 0.00 0.000 6 0.000 0.057 2219 2397 3417

4142 -0.85 -146.6 354.3 -6.7 199 4143 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2397 3417

4451 -0.85 -146.6 374.9 -6.8 214 4452 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2397 3417

4760 -0.85 -146.6 396.5 -7.1 229 4762 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2396 3417

5070 -0.85 -146.6 417.5 -6.7 244 5074 0.00 2.62 0.00 0.000 4 0.000 0.070 2219 984 3417

5146 -0.85 -146.6 423.0 -7.0 247 5153 0.00 2.58 0.00 0.000 6 0.000 0.054 2219 2393 3418

5462 -0.85 -146.6 444.9 -6.8 263 5463 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2393 3417

5771 -0.85 -146.6 465.5 -7.0 278 5775 0.00 2.62 0.00 0.000 4 0.000 0.068 2219 985 3417

5859 -0.85 -146.6 472.2 -8.0 282 5863 0.00 2.58 0.00 0.000 6 0.000 0.054 2219 2407 3417

6185 -0.85 -146.6 497.2 -8.1 298 6186 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2407 3417

6494 -0.85 -146.6 522.2 -7.7 313 6499 0.00 2.65 0.00 0.000 4 0.000 0.071 2219 985 3417

6572 -0.85 -146.6 528.5 -8.4 316 6578 0.00 2.58 0.00 0.000 6 0.000 0.054 2219 2404 3417

6887 -0.85 -146.6 554.9 -8.3 332 6888 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3417

7196 -0.85 -146.6 580.1 -8.1 347 7198 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3416

7505 -0.85 -146.6 605.7 -8.1 362 7510 0.00 2.65 0.00 0.000 4 0.000 0.070 2219 984 3416

7577 -0.85 -146.6 612.0 -9.3 365 7582 0.00 2.60 0.00 0.000 6 0.000 0.052 2219 2400 3417

7899 -0.85 -146.6 639.8 -8.8 381 7903 0.00 2.62 0.00 0.000 4 0.000 0.068 2219 984 3416

7952 -0.85 -146.6 644.8 -8.4 383 7959 0.00 2.60 0.00 0.000 6 0.000 0.053 2219 2398 3416

8268 -0.85 -146.6 669.0 -7.4 399 8269 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2398 3416

8577 -0.85 -146.6 692.7 -7.6 414 8578 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2399 3416

8886 -0.85 -146.6 717.0 -8.4 429 8887 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2398 3415

9196 -0.85 -146.6 746.7 -10.0 444 9200 0.00 2.62 0.00 0.000 4 0.000 0.068 2219 983 3415

9289 -0.85 -146.6 755.4 -8.9 448 9294 0.00 2.58 0.00 0.000 6 0.000 0.052 2219 2404 3415

9610 -0.85 -146.6 780.1 -6.7 464 9614 0.00 2.62 0.00 0.000 4 0.000 0.066 2219 983 3415

9658 -0.85 -146.6 783.5 -6.9 466 9663 0.00 2.58 0.00 0.000 6 0.000 0.050 2219 2396 3415

9980 -0.85 -146.6 809.0 -10.1 482 9984 0.00 2.55 0.00 0.000 4 0.000 0.077 2219 3762 3415

10050 -0.85 -146.6 816.3 -9.2 485 10055 0.00 2.50 0.00 0.000 6 0.000 0.053 2219 2400 3415

10372 -0.85 -146.6 836.0 -6.0 501 10376 0.00 2.62 0.00 0.000 4 0.000 0.074 2219 986 3415

10510 -0.85 -146.6 844.5 -5.8 507 10515 0.00 2.58 0.00 0.000 6 0.000 0.053 2219 2404 3415

10831 -0.85 -146.6 864.9 -6.6 523 10832 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3415

11141 -0.85 -146.6 883.0 -5.6 538 11142 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3415

11450 -0.85 -146.6 900.1 -5.6 553 11451 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3414

11759 -0.85 -146.6 920.8 -6.2 568 11760 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3414

12068 -0.85 -146.6 941.8 -6.1 583 12073 0.00 2.65 0.00 0.000 4 0.000 0.071 2219 988 3412

12110 end dive: BOTTOM_OBSTACLE_DETECTED

state 12110 begin apogee

12116 -0.31 0.0 945.0 8.0 585 12242 0.57 0.00 122.75 1.358 6 0.117 0.000 2334 2207 2817

12243 end apogee: CONTROL_FINISHED_OK

state 12243 begin climb

12244 0.85 146.6 947.8 0.0 591 12375 1.25 2.75 122.22 1.315 4 0.080 0.069 2591 790 2217

12488 0.91 207.7 938.3 4.3 603 12544 0.00 2.60 50.65 1.278 6 0.000 0.051 2591 2201 1970

12855 0.91 207.7 914.8 6.4 620 12856 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2201 1969

13162 0.91 207.7 892.9 8.1 635 13166 0.00 2.67 0.00 0.000 4 0.000 0.077 2591 3610 1968

13201 0.91 207.7 889.5 9.3 637 13205 0.00 2.62 0.00 0.000 6 0.000 0.058 2591 2195 1968

13526 0.91 207.7 864.1 6.9 653 13527 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2195 1966

13835 0.91 207.7 843.5 7.4 668 13836 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2195 1964

14145 0.96 247.4 823.6 4.9 683 14180 0.12 0.00 32.88 1.252 6 0.068 0.000 2623 2195 1808

14474 0.96 247.4 796.8 9.6 699 14479 0.00 2.67 0.00 0.000 4 0.000 0.073 2624 3610 1806

14513 0.96 247.4 792.7 10.9 701 14518 0.00 2.62 0.00 0.000 6 0.000 0.059 2622 2199 1805

14839 0.96 247.4 756.8 8.8 717 14844 0.00 2.67 0.00 0.000 4 0.000 0.072 2622 782 1805

14878 0.96 247.4 753.4 8.3 719 14882 0.00 2.58 0.00 0.000 6 0.000 0.047 2623 2201 1805

15203 0.96 247.4 723.3 9.1 735 15204 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2201 1805

15512 0.96 247.4 693.2 10.4 750 15513 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2201 1805

15821 0.96 247.4 661.5 10.4 765 15822 0.00 0.00 0.00 0.000 6 0.000 0.000 2624 2201 1805

16131 0.96 247.4 631.8 8.9 780 16132 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2201 1806

16440 0.96 247.4 606.4 8.3 795 16441 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2201 1806

16749 0.96 247.4 581.7 7.9 810 16753 0.00 2.65 0.00 0.000 4 0.000 0.064 2623 779 1806

16788 0.96 247.4 578.3 8.7 812 16792 0.00 2.55 0.00 0.000 6 0.000 0.044 2623 2204 1807

17113 0.96 247.4 551.4 7.9 828 17114 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2203 1807

17422 0.96 247.4 524.8 9.0 843 17423 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2203 1808

17731 0.96 247.4 498.1 8.9 858 17733 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2203 1808

18041 0.96 247.4 470.9 9.0 873 18042 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2203 1808

18350 0.96 247.4 443.1 8.8 888 18351 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2203 1809

18659 0.96 247.4 417.5 8.2 903 18663 0.00 2.65 0.00 0.000 4 0.000 0.066 2623 780 1809

18721 0.96 247.4 412.0 8.1 906 18725 0.00 2.55 0.00 0.000 6 0.000 0.044 2623 2202 1809

19046 0.96 247.4 382.9 9.1 922 19047 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2202 1810

19355 0.96 247.4 354.0 9.7 937 19359 0.00 2.65 0.00 0.000 4 0.000 0.067 2623 778 1810

19388 0.96 247.4 350.9 8.4 938 19394 0.00 2.55 0.00 0.000 6 0.000 0.044 2623 2203 1810

19702 0.96 247.4 322.3 9.1 954 19703 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2203 1811

20011 0.96 247.4 294.4 8.9 969 20012 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2203 1811

20320 0.96 247.4 267.8 8.2 984 20325 0.00 2.65 0.00 0.000 4 0.000 0.066 2623 778 1812

20360 0.96 247.4 264.7 7.9 986 20364 0.00 2.55 0.00 0.000 6 0.000 0.045 2623 2201 1812

20685 0.96 247.4 238.9 7.8 1002 20686 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2201 1812

20994 0.96 247.4 213.5 8.6 1017 20995 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2201 1812

21304 0.96 247.4 185.3 9.1 1032 21308 0.00 2.62 0.00 0.000 4 0.000 0.066 2623 784 1813

21336 0.96 247.4 182.1 10.8 1033 21343 0.00 2.50 0.00 0.000 6 0.000 0.044 2623 2195 1812

21651 0.96 247.4 151.0 10.3 1049 21652 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2195 1813

21961 0.96 247.4 123.5 8.1 1064 21962 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2195 1813

22269 0.96 247.4 95.1 10.0 1079 22271 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2195 1813

22579 0.96 247.4 68.6 9.4 1094 22580 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2195 1813

22888 0.96 247.4 44.6 8.6 1109 22889 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2195 1814

23197 0.96 247.4 18.2 7.6 1124 23198 0.00 0.00 0.00 0.000 6 0.000 0.000 2623 2195 1814

23484 end climb: SURFACE_DEPTH_REACHED

state 23484 begin surface coast

23506 end surface coast: CONTROL_FINISHED_OK

state 23506 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	117	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	19	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2817	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2077798.9	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	204756,6207.849,-1035.172,39,1.6,39,-10.3	TGT_NAME	IFRS1K
_CALLS	4	TGT_LATLONG	6210.000,-1055.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.145,-0.168
_SM_DEPTHo	1.33	KALMAN_X	-31737.5,554.1,-2586.8,-45179.8,11749.4
_SM_ANGLEo	-55.1	KALMAN_Y	125528.0,-517.9,-5251.7,-64880.2,37646.1
GPS2	210457,6207.826,-1035.373,12,1.7,12,-10.3	MHEAD_RNG_PITCHd_Wd	231.1,17443,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.025562	ALTIM_BOTTOM_PING	851.1,103.8
SM_CCo	23526,35.08,0.615,2,0,1594,300.00	_24V_AH	23.5,22.168
SM_GC	1.30,0.00,0.00,35.08,0.000,0.000,0.615,66,2404,1594,-10.78,0.11,300.00	_10V_AH	10.2,10.114
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	56896,1139
TT8_MAMPS	0.023777	CFSIZE	260165632,252674048
HUMID	2089	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
TCM_TEMP	17.50	GPS	021207,034016,6206.949,-1043.934,41,2.2,60,-10.4
XPDR_PINGS	44

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	102.05	SBE_CT	796	24	449.14
Roll_motor	125	82	241.37	SBE_O2	820	19	366.37
VBD_pump_during_apogee	328	1358	10486.18	WL_BB2F	617	105	1522.81
VBD_pump_during_surface	35	615	507.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	130	103	315.57	nil	0	0	0.00
Iridium_during_connect	357	160	1342.76	nil	0	0	0.00
Iridium_during_xfer	249	223	1307.65
Transponder_ping	18	420	182.59
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.40
TT8	1998	19	403.56
LPSleep	18862	2	421.35
TT8_Active	521	19	105.31
TT8_Sampling	2303	39	934.93
TT8_CF8	910	45	425.12
TT8_Kalman	33	81	27.84
Analog_circuits	1628	12	199.34
GPS_charging	0	0	0.00
Compass	2256	8	184.15
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.85	-146.6	0.0	0.0	0	98	0.00	0.00	-77.05	0.000	2	0.000	0.000	70	2404	3276
101	-0.85	-146.6	4.2	-4.2	4	123	12.10	2.58	-2.85	0.000	4	0.172	0.082	2218	3771	3418
352	-0.85	-146.6	37.9	-11.6	15	357	0.00	2.53	0.00	0.000	6	0.000	0.050	2219	2396	3418
679	-0.85	-146.6	66.4	-8.2	31	680	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2396	3418
989	-0.85	-146.6	102.8	-11.5	46	993	0.00	2.62	0.00	0.000	4	0.000	0.067	2219	982	3417
1049	-0.85	-146.6	108.5	-8.5	49	1054	0.00	2.58	0.00	0.000	6	0.000	0.052	2219	2404	3417
1375	-0.85	-146.6	131.9	-8.3	65	1376	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3418
1684	-0.85	-146.6	162.7	-11.3	80	1685	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3417
1993	-0.85	-146.6	190.4	-8.3	95	1997	0.00	2.62	0.00	0.000	4	0.000	0.065	2219	984	3417
2114	-0.85	-146.6	198.9	-7.2	100	2121	0.00	2.60	0.00	0.000	6	0.000	0.053	2219	2397	3417
2430	-0.85	-146.6	222.3	-7.4	116	2432	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2397	3417
2740	-0.85	-146.6	245.6	-7.4	131	2741	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2396	3417
3049	-0.85	-146.6	269.3	-8.0	146	3053	0.00	2.62	0.00	0.000	4	0.000	0.066	2219	982	3417
3103	-0.85	-146.6	274.0	-8.6	148	3110	0.00	2.60	0.00	0.000	6	0.000	0.053	2219	2397	3418
3419	-0.85	-146.6	300.6	-8.2	164	3420	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2397	3417
3728	-0.85	-146.6	324.6	-7.2	179	3732	0.00	2.62	0.00	0.000	4	0.000	0.067	2219	982	3417
3815	-0.85	-146.6	331.3	-7.2	183	3820	0.00	2.62	0.00	0.000	6	0.000	0.057	2219	2397	3417
4142	-0.85	-146.6	354.3	-6.7	199	4143	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2397	3417
4451	-0.85	-146.6	374.9	-6.8	214	4452	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2397	3417
4760	-0.85	-146.6	396.5	-7.1	229	4762	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2396	3417
5070	-0.85	-146.6	417.5	-6.7	244	5074	0.00	2.62	0.00	0.000	4	0.000	0.070	2219	984	3417
5146	-0.85	-146.6	423.0	-7.0	247	5153	0.00	2.58	0.00	0.000	6	0.000	0.054	2219	2393	3418
5462	-0.85	-146.6	444.9	-6.8	263	5463	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2393	3417
5771	-0.85	-146.6	465.5	-7.0	278	5775	0.00	2.62	0.00	0.000	4	0.000	0.068	2219	985	3417
5859	-0.85	-146.6	472.2	-8.0	282	5863	0.00	2.58	0.00	0.000	6	0.000	0.054	2219	2407	3417
6185	-0.85	-146.6	497.2	-8.1	298	6186	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2407	3417
6494	-0.85	-146.6	522.2	-7.7	313	6499	0.00	2.65	0.00	0.000	4	0.000	0.071	2219	985	3417
6572	-0.85	-146.6	528.5	-8.4	316	6578	0.00	2.58	0.00	0.000	6	0.000	0.054	2219	2404	3417
6887	-0.85	-146.6	554.9	-8.3	332	6888	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3417
7196	-0.85	-146.6	580.1	-8.1	347	7198	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3416
7505	-0.85	-146.6	605.7	-8.1	362	7510	0.00	2.65	0.00	0.000	4	0.000	0.070	2219	984	3416
7577	-0.85	-146.6	612.0	-9.3	365	7582	0.00	2.60	0.00	0.000	6	0.000	0.052	2219	2400	3417
7899	-0.85	-146.6	639.8	-8.8	381	7903	0.00	2.62	0.00	0.000	4	0.000	0.068	2219	984	3416
7952	-0.85	-146.6	644.8	-8.4	383	7959	0.00	2.60	0.00	0.000	6	0.000	0.053	2219	2398	3416
8268	-0.85	-146.6	669.0	-7.4	399	8269	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2398	3416
8577	-0.85	-146.6	692.7	-7.6	414	8578	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2399	3416
8886	-0.85	-146.6	717.0	-8.4	429	8887	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2398	3415
9196	-0.85	-146.6	746.7	-10.0	444	9200	0.00	2.62	0.00	0.000	4	0.000	0.068	2219	983	3415
9289	-0.85	-146.6	755.4	-8.9	448	9294	0.00	2.58	0.00	0.000	6	0.000	0.052	2219	2404	3415
9610	-0.85	-146.6	780.1	-6.7	464	9614	0.00	2.62	0.00	0.000	4	0.000	0.066	2219	983	3415
9658	-0.85	-146.6	783.5	-6.9	466	9663	0.00	2.58	0.00	0.000	6	0.000	0.050	2219	2396	3415
9980	-0.85	-146.6	809.0	-10.1	482	9984	0.00	2.55	0.00	0.000	4	0.000	0.077	2219	3762	3415
10050	-0.85	-146.6	816.3	-9.2	485	10055	0.00	2.50	0.00	0.000	6	0.000	0.053	2219	2400	3415
10372	-0.85	-146.6	836.0	-6.0	501	10376	0.00	2.62	0.00	0.000	4	0.000	0.074	2219	986	3415
10510	-0.85	-146.6	844.5	-5.8	507	10515	0.00	2.58	0.00	0.000	6	0.000	0.053	2219	2404	3415
10831	-0.85	-146.6	864.9	-6.6	523	10832	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3415
11141	-0.85	-146.6	883.0	-5.6	538	11142	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3415
11450	-0.85	-146.6	900.1	-5.6	553	11451	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3414
11759	-0.85	-146.6	920.8	-6.2	568	11760	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3414
12068	-0.85	-146.6	941.8	-6.1	583	12073	0.00	2.65	0.00	0.000	4	0.000	0.071	2219	988	3412
12110	end dive: BOTTOM_OBSTACLE_DETECTED
state	12110	begin apogee
12116	-0.31	0.0	945.0	8.0	585	12242	0.57	0.00	122.75	1.358	6	0.117	0.000	2334	2207	2817
12243	end apogee: CONTROL_FINISHED_OK
state	12243	begin climb
12244	0.85	146.6	947.8	0.0	591	12375	1.25	2.75	122.22	1.315	4	0.080	0.069	2591	790	2217
12488	0.91	207.7	938.3	4.3	603	12544	0.00	2.60	50.65	1.278	6	0.000	0.051	2591	2201	1970
12855	0.91	207.7	914.8	6.4	620	12856	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2201	1969
13162	0.91	207.7	892.9	8.1	635	13166	0.00	2.67	0.00	0.000	4	0.000	0.077	2591	3610	1968
13201	0.91	207.7	889.5	9.3	637	13205	0.00	2.62	0.00	0.000	6	0.000	0.058	2591	2195	1968
13526	0.91	207.7	864.1	6.9	653	13527	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2195	1966
13835	0.91	207.7	843.5	7.4	668	13836	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2195	1964
14145	0.96	247.4	823.6	4.9	683	14180	0.12	0.00	32.88	1.252	6	0.068	0.000	2623	2195	1808
14474	0.96	247.4	796.8	9.6	699	14479	0.00	2.67	0.00	0.000	4	0.000	0.073	2624	3610	1806
14513	0.96	247.4	792.7	10.9	701	14518	0.00	2.62	0.00	0.000	6	0.000	0.059	2622	2199	1805
14839	0.96	247.4	756.8	8.8	717	14844	0.00	2.67	0.00	0.000	4	0.000	0.072	2622	782	1805
14878	0.96	247.4	753.4	8.3	719	14882	0.00	2.58	0.00	0.000	6	0.000	0.047	2623	2201	1805
15203	0.96	247.4	723.3	9.1	735	15204	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2201	1805
15512	0.96	247.4	693.2	10.4	750	15513	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2201	1805
15821	0.96	247.4	661.5	10.4	765	15822	0.00	0.00	0.00	0.000	6	0.000	0.000	2624	2201	1805
16131	0.96	247.4	631.8	8.9	780	16132	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2201	1806
16440	0.96	247.4	606.4	8.3	795	16441	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2201	1806
16749	0.96	247.4	581.7	7.9	810	16753	0.00	2.65	0.00	0.000	4	0.000	0.064	2623	779	1806
16788	0.96	247.4	578.3	8.7	812	16792	0.00	2.55	0.00	0.000	6	0.000	0.044	2623	2204	1807
17113	0.96	247.4	551.4	7.9	828	17114	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2203	1807
17422	0.96	247.4	524.8	9.0	843	17423	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2203	1808
17731	0.96	247.4	498.1	8.9	858	17733	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2203	1808
18041	0.96	247.4	470.9	9.0	873	18042	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2203	1808
18350	0.96	247.4	443.1	8.8	888	18351	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2203	1809
18659	0.96	247.4	417.5	8.2	903	18663	0.00	2.65	0.00	0.000	4	0.000	0.066	2623	780	1809
18721	0.96	247.4	412.0	8.1	906	18725	0.00	2.55	0.00	0.000	6	0.000	0.044	2623	2202	1809
19046	0.96	247.4	382.9	9.1	922	19047	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2202	1810
19355	0.96	247.4	354.0	9.7	937	19359	0.00	2.65	0.00	0.000	4	0.000	0.067	2623	778	1810
19388	0.96	247.4	350.9	8.4	938	19394	0.00	2.55	0.00	0.000	6	0.000	0.044	2623	2203	1810
19702	0.96	247.4	322.3	9.1	954	19703	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2203	1811
20011	0.96	247.4	294.4	8.9	969	20012	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2203	1811
20320	0.96	247.4	267.8	8.2	984	20325	0.00	2.65	0.00	0.000	4	0.000	0.066	2623	778	1812
20360	0.96	247.4	264.7	7.9	986	20364	0.00	2.55	0.00	0.000	6	0.000	0.045	2623	2201	1812
20685	0.96	247.4	238.9	7.8	1002	20686	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2201	1812
20994	0.96	247.4	213.5	8.6	1017	20995	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2201	1812
21304	0.96	247.4	185.3	9.1	1032	21308	0.00	2.62	0.00	0.000	4	0.000	0.066	2623	784	1813
21336	0.96	247.4	182.1	10.8	1033	21343	0.00	2.50	0.00	0.000	6	0.000	0.044	2623	2195	1812
21651	0.96	247.4	151.0	10.3	1049	21652	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2195	1813
21961	0.96	247.4	123.5	8.1	1064	21962	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2195	1813
22269	0.96	247.4	95.1	10.0	1079	22271	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2195	1813
22579	0.96	247.4	68.6	9.4	1094	22580	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2195	1813
22888	0.96	247.4	44.6	8.6	1109	22889	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2195	1814
23197	0.96	247.4	18.2	7.6	1124	23198	0.00	0.00	0.00	0.000	6	0.000	0.000	2623	2195	1814
23484	end climb: SURFACE_DEPTH_REACHED
state	23484	begin surface coast
23506	end surface coast: CONTROL_FINISHED_OK
state	23506	begin surface