Glider dive log

PN07 DabobBay 29Sep07 * SG107 * Dive index * Mission links * Dive 308 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 107 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 10

MISSION 10 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 308 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 152 ALTIM_PING_DEPTH 0

D_TGT 90 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3928 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2050 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2450 ALTIM_PULSE 1

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_PITCH 0 SM_CC 671.14081 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 24 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 300 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 15 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 30 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 679 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 4028 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3415 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY -1 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 19

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -21936.766 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 40 PITCH_MIN 363 AH0_24V 91.800003 SEABIRD_T_G 0.004345139

SPEED_FACTOR 1 PITCH_MAX 3698 AH0_10V 61.200001 SEABIRD_T_H 0.00064258272

RHO 1.023 C_PITCH 2730 PRESSURE_YINT -10.644979 SEABIRD_T_I 2.3711646e-05

MASS 51588 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001156423 SEABIRD_T_J 2.2769887e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.006271

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1385506

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022333476

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00024018179

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 671.14081

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3698 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 363 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 90 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 1 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001156423 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -10.644979 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 10 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.650002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.8667

APOGEE_PITCH -5 GLIDE_SLOPE 40 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -21936.766

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 30

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 107 ROLL_MAX 3928 T_TURN_SAMPINT 6

C_PITCH 2730 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2450 INT_PRESSURE_YINT 0 ROLL_MIN 152 UNCOM_BLEED 20

C_ROLL_DIVE 2050 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3415 MASS 51588 R_PORT_OVSHOOT 24 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 USE_ICE 0

DEEPGLIDERMB 0 MISSION 10 SEABIRD_C_G -10.006271 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1385506 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0022333476 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00024018179 VBD_MAX 4028

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004345139 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064258272 VBD_MIN 679

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3711646e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 308 PHONE_DEVICE 48 SEABIRD_T_J 2.2769887e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 021408,4745.190,-12249.769,9,1.6,14,18.3 TGT_NAME default

_CALLS 5 TGT_LATLONG 47.650,-122.867

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.285,-0.126

_SM_DEPTHo 0.71 KALMAN_X 14830.6,181.6,27.4,-10885.6,-20.0

_SM_ANGLEo -55.4 KALMAN_Y 17856.7,102.9,-56.4,-7695.3,-22.0

GPS2 023009,4745.155,-12249.793,13,1.7,13,18.3 MHEAD_RNG_PITCHd_Wd 95.6,14467832,-31.3,-20.000

SPEED_LIMITS 0.238,0.312 D_GRID 174

Post-dive calculations and measurements:

FINISH 0.0,1.012494 ALTIM_TOP_PING 9.9,9.5

SM_CCo 1503,249.77,0.490,0,0,679,671.14 ALTIM_BOTTOM_PING 65.6,999.0

SM_GC 0.52,0.00,0.00,249.77,0.000,0.000,0.490,362,2048,679,-10.89,-0.06,671.14 _24V_AH 23.2,28.360

IRIDIUM_FIX 4729.30,-12252.58,111007,060628 _10V_AH 10.1,20.915

TT8_MAMPS 0.071331 DATA_FILE_SIZE 3327,140

HUMID 2007 CFSIZE 260034560,247447552

INTERNAL_PRESSURE 7.63701 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.90 GPS 111007,030114,4745.070,-12249.548,10,2.0,15,18.3

XPDR_PINGS 58

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 152 100.66 SBE_CT 91 24 50.82

Roll_motor 11 65 17.94 nil 0 0 0.00

VBD_pump_during_apogee 258 560 3364.77 nil 0 0 0.00

VBD_pump_during_surface 249 490 2840.10 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 195 103 466.54 nil 0 0 0.00

Iridium_during_connect 393 160 1459.30 ARS 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 15 420 146.16

Mmodem_TX 0 1000 0.00

Mmodem_RX 2703 6 401.34

GPS 13 50 6.71

TT8 258 19 51.78

LPSleep 893 2 19.75

TT8_Active 593 19 118.74

TT8_Sampling 259 39 104.45

TT8_CF8 730 45 337.82

TT8_Kalman 33 81 27.54

Analog_circuits 769 12 93.31

GPS_charging 0 0 0.00

Compass 246 8 19.91

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

26 end surface: CONTROL_FINISHED_OK

state 26 begin dive

30 -2.59 -146.6 0.0 0.0 0 110 0.00 0.00 -78.20 0.000 2 0.000 0.000 362 2054 3385

115 -2.59 -146.6 2.1 -4.9 13 158 10.18 2.60 -23.33 0.000 4 0.153 0.066 2161 3453 4014

331 -2.59 -146.6 32.2 -15.4 40 338 0.00 2.55 0.00 0.000 6 0.000 0.038 2161 2042 4015

527 -2.59 -146.6 60.4 -14.0 56 529 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2041 4015

719 -2.59 -146.6 86.8 -14.4 71 721 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2039 4015

739 end dive: TARGET_DEPTH_EXCEEDED

state 739 begin apogee

746 -0.38 0.0 90.4 14.5 73 867 2.40 0.00 114.57 0.561 6 0.102 0.000 2646 2456 3414

868 end apogee: CONTROL_FINISHED_OK

state 868 begin climb

871 2.59 146.6 94.2 0.0 83 988 2.95 0.00 111.65 0.551 6 0.060 0.000 3297 2456 2817

1176 2.63 184.6 51.4 16.5 108 1212 0.00 2.65 28.30 0.530 4 0.000 0.065 3298 3848 2661

1298 2.64 190.5 28.5 19.5 117 1309 0.00 2.45 4.15 0.547 6 0.000 0.035 3298 2436 2638

1458 end climb: SURFACE_DEPTH_REACHED

state 1458 begin surface coast

1473 end surface coast: CONTROL_FINISHED_OK

state 1473 begin surface

ID	107	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	10
MISSION	10	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	308	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	152	ALTIM_PING_DEPTH	0
D_TGT	90	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3928	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2050	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2450	ALTIM_PULSE	1
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_PITCH	0	SM_CC	671.14081	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	24	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	300	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	15	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	30	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	679	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	4028	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3415	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-1	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	19
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-21936.766	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	40	PITCH_MIN	363	AH0_24V	91.800003	SEABIRD_T_G	0.004345139
SPEED_FACTOR	1	PITCH_MAX	3698	AH0_10V	61.200001	SEABIRD_T_H	0.00064258272
RHO	1.023	C_PITCH	2730	PRESSURE_YINT	-10.644979	SEABIRD_T_I	2.3711646e-05
MASS	51588	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001156423	SEABIRD_T_J	2.2769887e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.006271
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1385506
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022333476
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00024018179

GPS1	021408,4745.190,-12249.769,9,1.6,14,18.3	TGT_NAME	default
_CALLS	5	TGT_LATLONG	47.650,-122.867
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.285,-0.126
_SM_DEPTHo	0.71	KALMAN_X	14830.6,181.6,27.4,-10885.6,-20.0
_SM_ANGLEo	-55.4	KALMAN_Y	17856.7,102.9,-56.4,-7695.3,-22.0
GPS2	023009,4745.155,-12249.793,13,1.7,13,18.3	MHEAD_RNG_PITCHd_Wd	95.6,14467832,-31.3,-20.000
SPEED_LIMITS	0.238,0.312	D_GRID	174

FINISH	0.0,1.012494	ALTIM_TOP_PING	9.9,9.5
SM_CCo	1503,249.77,0.490,0,0,679,671.14	ALTIM_BOTTOM_PING	65.6,999.0
SM_GC	0.52,0.00,0.00,249.77,0.000,0.000,0.490,362,2048,679,-10.89,-0.06,671.14	_24V_AH	23.2,28.360
IRIDIUM_FIX	4729.30,-12252.58,111007,060628	_10V_AH	10.1,20.915
TT8_MAMPS	0.071331	DATA_FILE_SIZE	3327,140
HUMID	2007	CFSIZE	260034560,247447552
INTERNAL_PRESSURE	7.63701	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.90	GPS	111007,030114,4745.070,-12249.548,10,2.0,15,18.3
XPDR_PINGS	58

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	152	100.66	SBE_CT	91	24	50.82
Roll_motor	11	65	17.94	nil	0	0	0.00
VBD_pump_during_apogee	258	560	3364.77	nil	0	0	0.00
VBD_pump_during_surface	249	490	2840.10	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	195	103	466.54	nil	0	0	0.00
Iridium_during_connect	393	160	1459.30	ARS	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	15	420	146.16
Mmodem_TX	0	1000	0.00
Mmodem_RX	2703	6	401.34
GPS	13	50	6.71
TT8	258	19	51.78
LPSleep	893	2	19.75
TT8_Active	593	19	118.74
TT8_Sampling	259	39	104.45
TT8_CF8	730	45	337.82
TT8_Kalman	33	81	27.54
Analog_circuits	769	12	93.31
GPS_charging	0	0	0.00
Compass	246	8	19.91
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
26	end surface: CONTROL_FINISHED_OK
state	26	begin dive
30	-2.59	-146.6	0.0	0.0	0	110	0.00	0.00	-78.20	0.000	2	0.000	0.000	362	2054	3385
115	-2.59	-146.6	2.1	-4.9	13	158	10.18	2.60	-23.33	0.000	4	0.153	0.066	2161	3453	4014
331	-2.59	-146.6	32.2	-15.4	40	338	0.00	2.55	0.00	0.000	6	0.000	0.038	2161	2042	4015
527	-2.59	-146.6	60.4	-14.0	56	529	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2041	4015
719	-2.59	-146.6	86.8	-14.4	71	721	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2039	4015
739	end dive: TARGET_DEPTH_EXCEEDED
state	739	begin apogee
746	-0.38	0.0	90.4	14.5	73	867	2.40	0.00	114.57	0.561	6	0.102	0.000	2646	2456	3414
868	end apogee: CONTROL_FINISHED_OK
state	868	begin climb
871	2.59	146.6	94.2	0.0	83	988	2.95	0.00	111.65	0.551	6	0.060	0.000	3297	2456	2817
1176	2.63	184.6	51.4	16.5	108	1212	0.00	2.65	28.30	0.530	4	0.000	0.065	3298	3848	2661
1298	2.64	190.5	28.5	19.5	117	1309	0.00	2.45	4.15	0.547	6	0.000	0.035	3298	2436	2638
1458	end climb: SURFACE_DEPTH_REACHED
state	1458	begin surface coast
1473	end surface coast: CONTROL_FINISHED_OK
state	1473	begin surface