Glider dive log

CABAGE Aug17 * SG198 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 198 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 350 XPDR_VALID 2

MISSION 12 TGT_DEFAULT_LAT 7545 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

DIVE 12 TGT_DEFAULT_LON -15041 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 12 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -0.44999999

STOP_T 0 SM_CC 692.78448 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 4

D_FLARE 3 FILEMGR 0 C_VBD 3365 DEVICE1 -1

D_TGT 360 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 420 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE3 -1

D_NO_BLEED 50 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_BOOST 100 N_NOCOMM 1 VBD_TIMEOUT 720 DEVICE5 -1

T_BOOST 4 NOCOMM_ACTION 161 PITCH_VBD_SHIFT 0.00069999998 DEVICE6 -1

D_FINISH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERS 7

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERDEVICE1 54

D_SAFE 0 CALL_TRIES 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 83

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 60 LOGGERDEVICE3 135

SURFACE_URGENCY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 0 COMPASS_DEVICE 97

SURFACE_URGENCY_FORCE 0 HEAPDBG 0 DBDW 0 COMPASS2_DEVICE 150

T_DIVE 120 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 160 N_GPS 100440 LOITER_DBDW 0 GPS_DEVICE 32

T_ABORT 1440 T_RSLEEP 3 LOITER_D_NO_PUMP 0 RAFOS_DEVICE 1125

T_TURN 225 STROBE 0 PITCH_W_GAIN 0 XPDR_DEVICE 24

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 PITCH_W_DBAND 0 SIM_W 0

T_NO_W 120 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 SIM_PITCH 0

T_LOITER 0 RAFOS_HIT_WINDOW 3600 AH0_24V 350 SEABIRD_T_G 0.004407478

T_EPIRB 0 RAFOS_MMODEM 0 AH0_10V 0 SEABIRD_T_H 0.00064096908

USE_BATHY 0 PITCH_MIN 212 MINV_24V 11 SEABIRD_T_I 2.5637486e-05

USE_ICE 0 PITCH_MAX 3894 MINV_10V 11 SEABIRD_T_J 3.1305062e-06

ICE_FREEZE_MARGIN 0.1 C_PITCH 2200 MAXI_24V 0.60000002 SEABIRD_C_G -9.8934832

D_OFFGRID 1000 PITCH_DBAND 0.1 MAXI_10V 1 SEABIRD_C_H 1.0879974

T_WATCHDOG 10 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_C_I -0.0021788499

RELAUNCH 1 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_J 0.00021905446

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

MAX_BUOY 150 PITCH_GAIN 36 PRESSURE_YINT -160.33199 SC_PROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PRESSURE_SLOPE 0.00010704049 SC_XMITPROFILE 3.0

GLIDE_SLOPE 30 PITCH_AD_RATE 160 AD7714Ch0Gain 1 SC_NDIVE 1.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 PM_RECORDABOVE 2000.0

RHO 1.028 PITCH_ADJ_GAIN 0.02 TCM_ROLL_OFFSET 0 PM_PROFILE 3.0

MASS 55522 PITCH_ADJ_DBAND 1 COMPASS_USE 4 PM_XMITPROFILE 3.0

MASS_COMP 0 ROLL_MIN 200 ALTIM_BOTTOM_PING_RANGE 0 PM_NDIVE 1.0

NAV_MODE 2 ROLL_MAX 3790 ALTIM_TOP_PING_RANGE 0 PM_XMITRAW 0.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 0.0

KALMAN_USE 2 C_ROLL_DIVE 2500 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 0.0

HD_A 0.00281 C_ROLL_CLIMB 2320 ALTIM_TOP_MIN_OBSTACLE 1 CP_RECORDABOVE 1000.0

HD_B 0.0107 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 CP_PROFILE 3.0

HD_C 1.91e-06 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 CP_XMITPROFILE 3.0

HEADING 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 CP_UPLOADMAX 100000.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 43 ALTIM_PULSE 3 CP_STARTS 88.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 20 ALTIM_SENSITIVITY 2 CP_NDIVE 1.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0021788499

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021905446

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.004407478

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_H 0.00064096908

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 360 PITCH_CNV 0.003125763 SEABIRD_T_I 2.5637486e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 3.1305062e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 36 SIM_PITCH 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3894 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 692.78448

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 212 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00069999998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.00281 PM_MOTORS 0.0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0107 PM_NDIVE 1.0 TCM_PITCH_OFFSET 0

CALL_WAIT 60 HD_C 1.91e-06 PM_PROFILE 3.0 TCM_ROLL_OFFSET 0

CAPMAXSIZE 100000 HEADING 0 PM_RECORDABOVE 2000.0 TGT_AUTO_DEFAULT 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PM_SENDDEPTH 0.0 TGT_DEFAULT_LAT 7545

CF8_MAXERRORS 20 HEAPDBG 0 PM_XMITPROFILE 3.0 TGT_DEFAULT_LON -15041

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.1 PM_XMITRAW 0.0 T_ABORT 1440

COMPASS2_DEVICE 150 ID 198 PRESSURE_SLOPE 0.00010704049 T_BOOST 4

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -160.33199 T_DIVE 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.44999999 PROTOCOL 9 T_EPIRB 0

COURSE_BIAS 0 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_GPS 5

CP_NDIVE 1.0 LOGGERDEVICE1 54 P_OVSHOOT_WITHG 0 T_LOITER 0

CP_PROFILE 3.0 LOGGERDEVICE2 83 RAFOS_CORR_THRESH 60 T_MISSION 160

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 135 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 88.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 3.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2200 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2320 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 60

C_ROLL_DIVE 2500 MASS 55522 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3365 MASS_COMP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DBDW 0 MAXI_10V 1 ROLL_AD_RATE 350 USE_ICE 0

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAX_BUOY 150 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_10V 11 ROLL_MAX 3790 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 12 ROLL_MIN 200 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 43 VBD_MIN 500

DIVE 12 NOCOMM_ACTION 161 R_STBD_OVSHOOT 20 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 420 N_DIVES 12 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_BOOST 100 N_FILEKB 8 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.8934832 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_C_H 1.0879974 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 070817,202441,7116.3989,-14738.0654,15,0.8,19,21.2,0.0,0.0,10,9.8 SPEED_LIMITS 0.173,0.254

_CALLS 2 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG 7127.243,-14738.242

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 1.04 MHEAD_RNG_PITCHd_Wd 342.0,20000,-17.5,-10.000,-21.45,2245

_SM_ANGLEo -71.2 D_GRID 360

GPS2 070817,204631,7116.4434,-14738.2422,7,0.8,17,21.2,0.0,189.5,10,9.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170807201507.114753,3,486,08,0373,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0F CP_FREE 16016474112.000000

FINISH -0.0,1.019668 _24V_AH 12.81,55.378

SM_CCo 7429,0.00,0.000,0,0,500,702.78 _10V_AH 12.69,0.000

SM_GC 1.04,7.03,0.32,0.00,0.081,0.115,0.000,200,2508,500,-6.16,-0.51,702.78,0,0,0,0,0,0,14.13,14.09,14.19 FG_AHR_24Vo 0.000

RAFOS_CLK 437 FG_AHR_10Vo 0.000

MODEM 2,1502136907,73.18300,-149.96500,160.115,232235.0 MEM 324684

RAFOS_FIX 7113.728027,-14712.622070,070817,161608,2,255,17.97 DATA_FILE_SIZE 43282,1325

IRIDIUM_FIX 7116.48,-14744.06,070817,202900 CAP_FILE_SIZE 136433,0

TT8_MAMPS 0.041944,0.811916 CFSIZE 2097872896,2084700160

HUMID 48.97 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.58742 INTR 0,6084.76,0x2341ea,1,24

TCM_TEMP 13.20 SOUNDSPEED 1450.5

XPDR_PINGS 3 CURRENT 0.082,295.71,1

PM_FREEKB_00 61821696 GPS 070817,225209,7117.449,-14738.474,25,0.9,28,21.2,0.0,0.0,10,8.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 471 128.58 nil 0 0 0.00

Roll_motor 58 2157 1629.08 nil 0 0 0.00

VBD_pump_during_apogee 907 1272 14781.21 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 7367 14 1345.55

Iridium_during_xfer 980 213 2680.10 PMAR 7357 16 1538.71

Transponder_ping 0 420 4.04 NCP 7362 111 10468.10

GUMSTIX_24V 0 0 0.00

GPS 19 20 5.14

TT8 0 0 0.00

LPSleep 3798 2 111.36

TT8_Active 866 10 117.36

TT8_Sampling 3684 30 1409.57

TT8_CF8 403 35 181.26

TT8_Kalman 0 0 0.00

Analog_circuits 3048 10 398.47

GPS_charging 0 0 0.00

Compass 1897 6 162.27

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

42 end surface: CONTROL_FINISHED_OK

state 42 begin dive

44 -0.59 -145.9 194 2481 499 489 0.0 0.0 0 153 0.00 0.00 -106.93 0.000 16386 0.000 0.000 192 2481 2220 2191 2250 0 0 0 0 0 0 14.09 28.83 14.12

158 -0.59 -145.9 195 2487 2193 2252 3.7 -9.4 18 207 10.20 2.67 -33.40 0.000 18724 0.471 2.157 1994 3782 3961 3908 4014 0 0 0 0 0 0 13.62 12.81 14.01

432 -0.49 -145.9 1989 3782 3911 4015 69.8 -19.3 71 438 0.20 2.15 0.00 0.000 3206 0.288 0.054 2032 2498 3962 3911 4014 0 0 0 0 0 0 13.81 14.05 14.06

618 -0.49 -145.9 2033 2499 3913 4015 97.2 -13.4 108 625 0.00 2.35 0.00 0.000 260 0.000 0.111 2026 3789 3962 3911 4014 0 0 0 0 0 0 14.33 13.97 14.35

720 -0.56 -145.9 2027 3790 3912 4015 110.2 -11.6 128 727 0.00 2.15 0.00 0.000 1158 0.000 0.053 2026 2501 3962 3911 4014 0 0 0 0 0 0 14.16 14.09 14.18

907 -0.63 -145.9 2027 2502 3912 4015 129.1 -9.7 165 913 0.00 0.00 0.00 0.000 166 0.000 0.000 2027 2501 3962 3911 4014 0 0 0 0 0 0 14.38 14.40 14.39

1093 -0.73 -145.9 2028 2502 3912 4014 145.9 -8.9 202 1098 0.17 0.00 0.00 0.000 4262 0.103 0.000 1943 2501 3965 3918 4013 0 0 0 0 0 0 14.18 14.23 14.21

1278 -0.69 -145.9 1942 2501 3911 4012 172.0 -13.1 239 1284 0.12 0.00 0.00 0.000 2182 0.300 0.000 1964 2500 3962 3911 4013 0 0 0 0 0 0 13.95 14.26 14.20

1464 -0.72 -145.9 1967 2500 3911 4012 192.2 -11.0 276 1471 0.00 2.35 0.00 0.000 388 0.000 0.115 1961 3790 3961 3911 4011 0 0 0 0 0 0 14.44 14.05 14.46

1631 -0.75 -145.9 1961 3791 3912 4011 211.1 -10.9 309 1637 0.00 2.15 0.00 0.000 1158 0.000 0.055 1959 2494 3960 3911 4009 0 0 0 0 0 0 14.24 14.18 14.24

1817 -0.79 -145.9 1961 2494 3912 4010 230.7 -10.4 346 1823 0.00 0.00 0.00 0.000 134 0.000 0.000 1960 2493 3960 3911 4009 0 0 0 0 0 0 14.44 14.45 14.46

2003 -0.83 -145.9 1961 2494 3910 4010 249.4 -9.9 383 2008 0.00 0.00 0.00 0.000 166 0.000 0.000 1960 2493 3959 3909 4009 0 0 0 0 0 0 14.45 14.47 14.46

2188 -0.88 -145.9 1961 2494 3908 4010 267.1 -9.5 420 2196 0.15 2.35 0.00 0.000 4516 0.119 0.112 1888 3784 3957 3907 4008 0 0 0 0 0 0 13.97 13.96 13.96

2226 -0.79 -145.9 1888 3785 3907 4008 272.1 -14.7 427 2232 0.22 2.15 0.00 0.000 3206 0.284 0.054 1937 2489 3957 3907 4008 0 0 0 0 0 0 13.88 14.22 14.17

2412 -0.79 -145.9 1938 2489 3908 4008 293.6 -11.4 464 2418 0.00 0.00 0.00 0.000 6 0.000 0.000 1937 2489 3957 3907 4008 0 0 0 0 0 0 14.45 14.47 14.47

2598 -0.79 -145.9 1937 2487 3906 4008 314.3 -11.2 501 2604 0.00 0.00 0.00 0.000 6 0.000 0.000 1936 2489 3956 3906 4007 0 0 0 0 0 0 14.47 14.50 14.49

2783 -0.79 -145.9 1938 2490 3906 4008 334.5 -10.7 538 2789 0.00 0.00 0.00 0.000 6 0.000 0.000 1938 2489 3956 3905 4007 0 0 0 0 0 0 14.47 14.50 14.49

2994 -0.79 -145.9 1937 2489 3904 4007 356.7 -10.6 570 2994 0.00 0.00 0.00 0.000 6 0.000 0.000 1937 2489 3955 3905 4006 0 0 0 0 0 0 14.48 14.50 14.50

3051 end dive: TARGET_DEPTH_EXCEEDED

state 3052 begin apogee

3057 -0.14 0.0 1936 2321 3904 4007 363.1 -10.6 572 3295 0.80 0.00 232.88 1.187 10246 0.243 0.000 2148 2321 3362 3313 3412 0 0 0 0 0 0 13.96 13.60 13.07

3299 end apogee: CONTROL_FINISHED_OK

state 3299 begin climb

3301 0.59 145.9 2149 2321 3308 3408 374.2 0.0 580 3509 0.77 2.58 172.50 1.214 10756 0.098 0.070 2404 926 2745 2685 2806 0 0 0 0 0 0 13.62 13.26 12.85

3736 0.43 145.9 2404 927 2686 2797 344.7 11.4 626 3742 0.25 2.50 0.00 0.000 5254 0.301 0.078 2347 2329 2740 2684 2796 0 0 0 0 0 0 13.60 13.78 13.88

3922 0.35 156.2 2347 2329 2677 2797 326.5 9.5 663 3929 0.15 2.50 2.08 0.302 12964 0.292 0.073 2317 923 2727 2669 2786 0 0 0 0 0 0 13.74 13.93 12.84

4000 0.38 202.2 2318 923 2677 2794 320.2 7.9 678 4071 0.00 2.45 64.60 1.206 9254 0.000 0.080 2317 2322 2534 2473 2596 0 0 0 0 0 0 14.07 13.95 13.21

4251 0.39 218.3 2318 2321 2452 2578 297.5 9.3 726 4276 0.00 2.62 15.48 1.272 8484 0.000 0.109 2317 3721 2466 2407 2525 0 0 0 0 0 0 14.17 13.84 13.32

4311 0.37 218.3 2318 3722 2407 2517 291.5 11.0 737 4318 0.00 2.38 0.00 0.000 1158 0.000 0.055 2324 2332 2457 2399 2516 0 0 0 0 0 0 14.00 13.93 14.03

4498 0.38 234.2 2324 2332 2394 2514 273.7 9.3 774 4516 0.00 0.00 16.58 1.264 8230 0.000 0.000 2324 2332 2408 2347 2469 0 0 0 0 0 0 14.26 13.97 13.37

4696 0.40 260.1 2325 2333 2332 2452 255.6 8.8 813 4732 0.00 0.00 31.52 1.209 8230 0.000 0.000 2324 2332 2298 2238 2359 0 0 0 0 0 0 14.28 13.94 13.35

4912 0.43 269.0 2325 2333 2222 2348 235.5 9.6 855 4918 0.00 0.00 2.15 0.392 8358 0.000 0.000 2324 2332 2268 2205 2331 0 0 0 0 0 0 14.24 14.03 13.05

5098 0.48 274.9 2325 2334 2214 2339 216.7 9.7 892 5117 0.00 2.60 13.93 1.251 8612 0.000 0.108 2324 3725 2237 2176 2299 0 0 0 0 0 0 14.33 14.01 13.49

5142 0.50 274.9 2324 3726 2168 2291 212.1 11.3 900 5149 0.00 2.40 0.00 0.000 1158 0.000 0.057 2328 2315 2232 2170 2294 0 0 0 0 0 0 14.14 14.05 14.16

5329 0.56 291.2 2328 2315 2165 2292 194.3 9.3 937 5353 0.15 0.00 20.55 1.203 10406 0.117 0.000 2410 2313 2172 2108 2237 0 0 0 0 0 0 14.15 14.02 13.46

5533 0.48 291.2 2409 2314 2091 2224 166.8 14.2 977 5541 0.22 2.58 0.00 0.000 4484 0.256 0.104 2352 3734 2156 2089 2223 0 0 0 0 0 0 13.90 14.02 14.06

5647 0.48 291.2 2352 3735 2089 2223 154.3 10.5 999 5653 0.00 2.40 0.00 0.000 1030 0.000 0.056 2357 2316 2155 2089 2222 0 0 0 0 0 0 14.23 14.14 14.25

5833 0.53 331.2 2356 2316 2086 2223 138.1 8.2 1036 5893 0.00 0.00 54.20 1.112 8358 0.000 0.000 2357 2315 2006 1938 2074 0 0 0 0 0 0 14.38 13.92 13.41

6073 0.63 388.5 2357 2316 1920 2062 117.6 7.4 1082 6160 0.12 2.70 80.88 1.057 10660 0.133 0.106 2421 3727 1772 1707 1838 0 0 0 0 0 0 14.09 13.73 13.31

6192 0.60 388.5 2425 3728 1699 1827 103.6 14.4 1102 6198 0.15 2.42 0.00 0.000 5254 0.271 0.057 2394 2322 1761 1696 1827 0 0 0 0 0 0 13.74 13.85 13.91

6378 0.69 431.5 2394 2322 1689 1823 86.4 8.0 1139 6408 0.00 2.53 21.92 0.411 8868 0.000 0.081 2397 913 1609 1539 1679 0 0 0 0 0 0 14.19 13.90 13.66

6470 0.82 473.2 2397 913 1550 1691 79.2 8.1 1156 6507 0.22 2.47 27.30 0.403 11430 0.097 0.079 2491 2320 1442 1370 1515 0 0 0 0 0 0 14.00 13.90 13.66

6687 0.79 473.2 2492 2320 1377 1529 49.8 12.5 1198 6693 0.15 0.00 2.72 0.215 12422 0.259 0.000 2458 2320 1434 1362 1507 0 0 0 0 0 0 13.85 14.07 13.86

6873 0.89 525.5 2459 2321 1372 1528 33.7 7.6 1235 6915 0.00 2.45 34.33 0.278 8868 0.000 0.078 2465 914 1225 1158 1293 0 0 0 0 0 0 14.31 14.04 13.81

6977 1.03 571.7 2465 915 1158 1312 25.8 7.9 1254 7013 0.20 2.47 30.40 0.259 11430 0.102 0.077 2546 2325 1034 978 1090 0 0 0 0 0 0 14.07 14.01 13.85

7193 1.16 704.7 2547 2326 978 1116 10.4 3.9 1296 7282 0.00 0.00 83.00 0.213 8358 0.000 0.000 2546 2325 496 503 490 0 0 0 0 0 0 14.32 13.95 13.82

7325 end climb: SURFACE_DEPTH_REACHED

state 7325 begin surface coast

7350 end surface coast: CONTROL_FINISHED_OK

state 7350 begin surface

ID	198	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	350	XPDR_VALID	2
MISSION	12	TGT_DEFAULT_LAT	7545	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
DIVE	12	TGT_DEFAULT_LON	-15041	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	12	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.44999999
STOP_T	0	SM_CC	692.78448	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	4
D_FLARE	3	FILEMGR	0	C_VBD	3365	DEVICE1	-1
D_TGT	360	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	420	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE3	-1
D_NO_BLEED	50	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_BOOST	100	N_NOCOMM	1	VBD_TIMEOUT	720	DEVICE5	-1
T_BOOST	4	NOCOMM_ACTION	161	PITCH_VBD_SHIFT	0.00069999998	DEVICE6	-1
D_FINISH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERS	7
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERDEVICE1	54
D_SAFE	0	CALL_TRIES	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	83
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	60	LOGGERDEVICE3	135
SURFACE_URGENCY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	0	COMPASS_DEVICE	97
SURFACE_URGENCY_FORCE	0	HEAPDBG	0	DBDW	0	COMPASS2_DEVICE	150
T_DIVE	120	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	160	N_GPS	100440	LOITER_DBDW	0	GPS_DEVICE	32
T_ABORT	1440	T_RSLEEP	3	LOITER_D_NO_PUMP	0	RAFOS_DEVICE	1125
T_TURN	225	STROBE	0	PITCH_W_GAIN	0	XPDR_DEVICE	24
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	PITCH_W_DBAND	0	SIM_W	0
T_NO_W	120	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	SIM_PITCH	0
T_LOITER	0	RAFOS_HIT_WINDOW	3600	AH0_24V	350	SEABIRD_T_G	0.004407478
T_EPIRB	0	RAFOS_MMODEM	0	AH0_10V	0	SEABIRD_T_H	0.00064096908
USE_BATHY	0	PITCH_MIN	212	MINV_24V	11	SEABIRD_T_I	2.5637486e-05
USE_ICE	0	PITCH_MAX	3894	MINV_10V	11	SEABIRD_T_J	3.1305062e-06
ICE_FREEZE_MARGIN	0.1	C_PITCH	2200	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8934832
D_OFFGRID	1000	PITCH_DBAND	0.1	MAXI_10V	1	SEABIRD_C_H	1.0879974
T_WATCHDOG	10	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_C_I	-0.0021788499
RELAUNCH	1	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_J	0.00021905446
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
MAX_BUOY	150	PITCH_GAIN	36	PRESSURE_YINT	-160.33199	SC_PROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PRESSURE_SLOPE	0.00010704049	SC_XMITPROFILE	3.0
GLIDE_SLOPE	30	PITCH_AD_RATE	160	AD7714Ch0Gain	1	SC_NDIVE	1.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	PM_RECORDABOVE	2000.0
RHO	1.028	PITCH_ADJ_GAIN	0.02	TCM_ROLL_OFFSET	0	PM_PROFILE	3.0
MASS	55522	PITCH_ADJ_DBAND	1	COMPASS_USE	4	PM_XMITPROFILE	3.0
MASS_COMP	0	ROLL_MIN	200	ALTIM_BOTTOM_PING_RANGE	0	PM_NDIVE	1.0
NAV_MODE	2	ROLL_MAX	3790	ALTIM_TOP_PING_RANGE	0	PM_XMITRAW	0.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	0.0
KALMAN_USE	2	C_ROLL_DIVE	2500	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	0.0
HD_A	0.00281	C_ROLL_CLIMB	2320	ALTIM_TOP_MIN_OBSTACLE	1	CP_RECORDABOVE	1000.0
HD_B	0.0107	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	CP_PROFILE	3.0
HD_C	1.91e-06	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	CP_XMITPROFILE	3.0
HEADING	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	CP_UPLOADMAX	100000.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	43	ALTIM_PULSE	3	CP_STARTS	88.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	20	ALTIM_SENSITIVITY	2	CP_NDIVE	1.0

GPS1	070817,202441,7116.3989,-14738.0654,15,0.8,19,21.2,0.0,0.0,10,9.8	SPEED_LIMITS	0.173,0.254
_CALLS	2	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	7127.243,-14738.242
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	1.04	MHEAD_RNG_PITCHd_Wd	342.0,20000,-17.5,-10.000,-21.45,2245
_SM_ANGLEo	-71.2	D_GRID	360
GPS2	070817,204631,7116.4434,-14738.2422,7,0.8,17,21.2,0.0,189.5,10,9.9

MODEM_MSG	CACST,6,1,20170807201507.114753,3,486,08,0373,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0F	CP_FREE	16016474112.000000
FINISH	-0.0,1.019668	_24V_AH	12.81,55.378
SM_CCo	7429,0.00,0.000,0,0,500,702.78	_10V_AH	12.69,0.000
SM_GC	1.04,7.03,0.32,0.00,0.081,0.115,0.000,200,2508,500,-6.16,-0.51,702.78,0,0,0,0,0,0,14.13,14.09,14.19	FG_AHR_24Vo	0.000
RAFOS_CLK	437	FG_AHR_10Vo	0.000
MODEM	2,1502136907,73.18300,-149.96500,160.115,232235.0	MEM	324684
RAFOS_FIX	7113.728027,-14712.622070,070817,161608,2,255,17.97	DATA_FILE_SIZE	43282,1325
IRIDIUM_FIX	7116.48,-14744.06,070817,202900	CAP_FILE_SIZE	136433,0
TT8_MAMPS	0.041944,0.811916	CFSIZE	2097872896,2084700160
HUMID	48.97	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.58742	INTR	0,6084.76,0x2341ea,1,24
TCM_TEMP	13.20	SOUNDSPEED	1450.5
XPDR_PINGS	3	CURRENT	0.082,295.71,1
PM_FREEKB_00	61821696	GPS	070817,225209,7117.449,-14738.474,25,0.9,28,21.2,0.0,0.0,10,8.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	471	128.58	nil	0	0	0.00
Roll_motor	58	2157	1629.08	nil	0	0	0.00
VBD_pump_during_apogee	907	1272	14781.21	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	7367	14	1345.55
Iridium_during_xfer	980	213	2680.10	PMAR	7357	16	1538.71
Transponder_ping	0	420	4.04	NCP	7362	111	10468.10
GUMSTIX_24V	0	0	0.00
GPS	19	20	5.14
TT8	0	0	0.00
LPSleep	3798	2	111.36
TT8_Active	866	10	117.36
TT8_Sampling	3684	30	1409.57
TT8_CF8	403	35	181.26
TT8_Kalman	0	0	0.00
Analog_circuits	3048	10	398.47
GPS_charging	0	0	0.00
Compass	1897	6	162.27
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	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	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
42	end surface: CONTROL_FINISHED_OK
state	42	begin dive
44	-0.59	-145.9	194	2481	499	489	0.0	0.0	0	153	0.00	0.00	-106.93	0.000	16386	0.000	0.000	192	2481	2220	2191	2250	0	0	0	0	0	0	14.09	28.83	14.12
158	-0.59	-145.9	195	2487	2193	2252	3.7	-9.4	18	207	10.20	2.67	-33.40	0.000	18724	0.471	2.157	1994	3782	3961	3908	4014	0	0	0	0	0	0	13.62	12.81	14.01
432	-0.49	-145.9	1989	3782	3911	4015	69.8	-19.3	71	438	0.20	2.15	0.00	0.000	3206	0.288	0.054	2032	2498	3962	3911	4014	0	0	0	0	0	0	13.81	14.05	14.06
618	-0.49	-145.9	2033	2499	3913	4015	97.2	-13.4	108	625	0.00	2.35	0.00	0.000	260	0.000	0.111	2026	3789	3962	3911	4014	0	0	0	0	0	0	14.33	13.97	14.35
720	-0.56	-145.9	2027	3790	3912	4015	110.2	-11.6	128	727	0.00	2.15	0.00	0.000	1158	0.000	0.053	2026	2501	3962	3911	4014	0	0	0	0	0	0	14.16	14.09	14.18
907	-0.63	-145.9	2027	2502	3912	4015	129.1	-9.7	165	913	0.00	0.00	0.00	0.000	166	0.000	0.000	2027	2501	3962	3911	4014	0	0	0	0	0	0	14.38	14.40	14.39
1093	-0.73	-145.9	2028	2502	3912	4014	145.9	-8.9	202	1098	0.17	0.00	0.00	0.000	4262	0.103	0.000	1943	2501	3965	3918	4013	0	0	0	0	0	0	14.18	14.23	14.21
1278	-0.69	-145.9	1942	2501	3911	4012	172.0	-13.1	239	1284	0.12	0.00	0.00	0.000	2182	0.300	0.000	1964	2500	3962	3911	4013	0	0	0	0	0	0	13.95	14.26	14.20
1464	-0.72	-145.9	1967	2500	3911	4012	192.2	-11.0	276	1471	0.00	2.35	0.00	0.000	388	0.000	0.115	1961	3790	3961	3911	4011	0	0	0	0	0	0	14.44	14.05	14.46
1631	-0.75	-145.9	1961	3791	3912	4011	211.1	-10.9	309	1637	0.00	2.15	0.00	0.000	1158	0.000	0.055	1959	2494	3960	3911	4009	0	0	0	0	0	0	14.24	14.18	14.24
1817	-0.79	-145.9	1961	2494	3912	4010	230.7	-10.4	346	1823	0.00	0.00	0.00	0.000	134	0.000	0.000	1960	2493	3960	3911	4009	0	0	0	0	0	0	14.44	14.45	14.46
2003	-0.83	-145.9	1961	2494	3910	4010	249.4	-9.9	383	2008	0.00	0.00	0.00	0.000	166	0.000	0.000	1960	2493	3959	3909	4009	0	0	0	0	0	0	14.45	14.47	14.46
2188	-0.88	-145.9	1961	2494	3908	4010	267.1	-9.5	420	2196	0.15	2.35	0.00	0.000	4516	0.119	0.112	1888	3784	3957	3907	4008	0	0	0	0	0	0	13.97	13.96	13.96
2226	-0.79	-145.9	1888	3785	3907	4008	272.1	-14.7	427	2232	0.22	2.15	0.00	0.000	3206	0.284	0.054	1937	2489	3957	3907	4008	0	0	0	0	0	0	13.88	14.22	14.17
2412	-0.79	-145.9	1938	2489	3908	4008	293.6	-11.4	464	2418	0.00	0.00	0.00	0.000	6	0.000	0.000	1937	2489	3957	3907	4008	0	0	0	0	0	0	14.45	14.47	14.47
2598	-0.79	-145.9	1937	2487	3906	4008	314.3	-11.2	501	2604	0.00	0.00	0.00	0.000	6	0.000	0.000	1936	2489	3956	3906	4007	0	0	0	0	0	0	14.47	14.50	14.49
2783	-0.79	-145.9	1938	2490	3906	4008	334.5	-10.7	538	2789	0.00	0.00	0.00	0.000	6	0.000	0.000	1938	2489	3956	3905	4007	0	0	0	0	0	0	14.47	14.50	14.49
2994	-0.79	-145.9	1937	2489	3904	4007	356.7	-10.6	570	2994	0.00	0.00	0.00	0.000	6	0.000	0.000	1937	2489	3955	3905	4006	0	0	0	0	0	0	14.48	14.50	14.50
3051	end dive: TARGET_DEPTH_EXCEEDED
state	3052	begin apogee
3057	-0.14	0.0	1936	2321	3904	4007	363.1	-10.6	572	3295	0.80	0.00	232.88	1.187	10246	0.243	0.000	2148	2321	3362	3313	3412	0	0	0	0	0	0	13.96	13.60	13.07
3299	end apogee: CONTROL_FINISHED_OK
state	3299	begin climb
3301	0.59	145.9	2149	2321	3308	3408	374.2	0.0	580	3509	0.77	2.58	172.50	1.214	10756	0.098	0.070	2404	926	2745	2685	2806	0	0	0	0	0	0	13.62	13.26	12.85
3736	0.43	145.9	2404	927	2686	2797	344.7	11.4	626	3742	0.25	2.50	0.00	0.000	5254	0.301	0.078	2347	2329	2740	2684	2796	0	0	0	0	0	0	13.60	13.78	13.88
3922	0.35	156.2	2347	2329	2677	2797	326.5	9.5	663	3929	0.15	2.50	2.08	0.302	12964	0.292	0.073	2317	923	2727	2669	2786	0	0	0	0	0	0	13.74	13.93	12.84
4000	0.38	202.2	2318	923	2677	2794	320.2	7.9	678	4071	0.00	2.45	64.60	1.206	9254	0.000	0.080	2317	2322	2534	2473	2596	0	0	0	0	0	0	14.07	13.95	13.21
4251	0.39	218.3	2318	2321	2452	2578	297.5	9.3	726	4276	0.00	2.62	15.48	1.272	8484	0.000	0.109	2317	3721	2466	2407	2525	0	0	0	0	0	0	14.17	13.84	13.32
4311	0.37	218.3	2318	3722	2407	2517	291.5	11.0	737	4318	0.00	2.38	0.00	0.000	1158	0.000	0.055	2324	2332	2457	2399	2516	0	0	0	0	0	0	14.00	13.93	14.03
4498	0.38	234.2	2324	2332	2394	2514	273.7	9.3	774	4516	0.00	0.00	16.58	1.264	8230	0.000	0.000	2324	2332	2408	2347	2469	0	0	0	0	0	0	14.26	13.97	13.37
4696	0.40	260.1	2325	2333	2332	2452	255.6	8.8	813	4732	0.00	0.00	31.52	1.209	8230	0.000	0.000	2324	2332	2298	2238	2359	0	0	0	0	0	0	14.28	13.94	13.35
4912	0.43	269.0	2325	2333	2222	2348	235.5	9.6	855	4918	0.00	0.00	2.15	0.392	8358	0.000	0.000	2324	2332	2268	2205	2331	0	0	0	0	0	0	14.24	14.03	13.05
5098	0.48	274.9	2325	2334	2214	2339	216.7	9.7	892	5117	0.00	2.60	13.93	1.251	8612	0.000	0.108	2324	3725	2237	2176	2299	0	0	0	0	0	0	14.33	14.01	13.49
5142	0.50	274.9	2324	3726	2168	2291	212.1	11.3	900	5149	0.00	2.40	0.00	0.000	1158	0.000	0.057	2328	2315	2232	2170	2294	0	0	0	0	0	0	14.14	14.05	14.16
5329	0.56	291.2	2328	2315	2165	2292	194.3	9.3	937	5353	0.15	0.00	20.55	1.203	10406	0.117	0.000	2410	2313	2172	2108	2237	0	0	0	0	0	0	14.15	14.02	13.46
5533	0.48	291.2	2409	2314	2091	2224	166.8	14.2	977	5541	0.22	2.58	0.00	0.000	4484	0.256	0.104	2352	3734	2156	2089	2223	0	0	0	0	0	0	13.90	14.02	14.06
5647	0.48	291.2	2352	3735	2089	2223	154.3	10.5	999	5653	0.00	2.40	0.00	0.000	1030	0.000	0.056	2357	2316	2155	2089	2222	0	0	0	0	0	0	14.23	14.14	14.25
5833	0.53	331.2	2356	2316	2086	2223	138.1	8.2	1036	5893	0.00	0.00	54.20	1.112	8358	0.000	0.000	2357	2315	2006	1938	2074	0	0	0	0	0	0	14.38	13.92	13.41
6073	0.63	388.5	2357	2316	1920	2062	117.6	7.4	1082	6160	0.12	2.70	80.88	1.057	10660	0.133	0.106	2421	3727	1772	1707	1838	0	0	0	0	0	0	14.09	13.73	13.31
6192	0.60	388.5	2425	3728	1699	1827	103.6	14.4	1102	6198	0.15	2.42	0.00	0.000	5254	0.271	0.057	2394	2322	1761	1696	1827	0	0	0	0	0	0	13.74	13.85	13.91
6378	0.69	431.5	2394	2322	1689	1823	86.4	8.0	1139	6408	0.00	2.53	21.92	0.411	8868	0.000	0.081	2397	913	1609	1539	1679	0	0	0	0	0	0	14.19	13.90	13.66
6470	0.82	473.2	2397	913	1550	1691	79.2	8.1	1156	6507	0.22	2.47	27.30	0.403	11430	0.097	0.079	2491	2320	1442	1370	1515	0	0	0	0	0	0	14.00	13.90	13.66
6687	0.79	473.2	2492	2320	1377	1529	49.8	12.5	1198	6693	0.15	0.00	2.72	0.215	12422	0.259	0.000	2458	2320	1434	1362	1507	0	0	0	0	0	0	13.85	14.07	13.86
6873	0.89	525.5	2459	2321	1372	1528	33.7	7.6	1235	6915	0.00	2.45	34.33	0.278	8868	0.000	0.078	2465	914	1225	1158	1293	0	0	0	0	0	0	14.31	14.04	13.81
6977	1.03	571.7	2465	915	1158	1312	25.8	7.9	1254	7013	0.20	2.47	30.40	0.259	11430	0.102	0.077	2546	2325	1034	978	1090	0	0	0	0	0	0	14.07	14.01	13.85
7193	1.16	704.7	2547	2326	978	1116	10.4	3.9	1296	7282	0.00	0.00	83.00	0.213	8358	0.000	0.000	2546	2325	496	503	490	0	0	0	0	0	0	14.32	13.95	13.82
7325	end climb: SURFACE_DEPTH_REACHED
state	7325	begin surface coast
7350	end surface coast: CONTROL_FINISHED_OK
state	7350	begin surface