SvinoySection Jan09 * SG160 * Dive index * Mission links * Dive 535 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  160 HEADING  -1 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
MISSION  3 ESCAPE_HEADING  0 ROLL_MIN  220 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  535 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3792 ALTIM_PING_DEPTH  0
D_SURF  4 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  50
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_DIVE  2180 ALTIM_FREQUENCY  12
D_TGT  990 TGT_DEFAULT_LON  -12218 C_ROLL_CLIMB  2270 ALTIM_PULSE  3
D_ABORT  1050 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  2
D_NO_BLEED  200 SM_CC  225 ROLL_CNV  0.028270001 XPDR_VALID  4
D_FINISH  0 N_FILEKB  8 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  39 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  39 INT_PRESSURE_YINT  1
D_CALL  0 COMM_SEQ  0 ROLL_AD_RATE  300 DEEPGLIDER  0
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  2 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0.029999999 DEVICE1  2
T_DIVE  480 UPLOAD_DIVES_MAX  -1 VBD_MIN  490 DEVICE2  20
T_MISSION  540 CALL_TRIES  5 VBD_MAX  3961 DEVICE3  35
T_ABORT  1440 CALL_WAIT  60 C_VBD  3046 DEVICE4  -1
T_TURN  225 CAPUPLOAD  0 VBD_DBAND  2 DEVICE5  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 VBD_CNV  -0.24529999 DEVICE6  -1
T_NO_W  120 HEAPDBG  0 VBD_TIMEOUT  720 SMARTS  0
USE_BATHY  -1 T_GPS  15 PITCH_VBD_SHIFT  0.0012300001 SMARTDEVICE1  -1
USE_ICE  0 N_GPS  20 VBD_PUMP_AD_RATE_SURFACE  4 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS_DEVICE  33
D_OFFGRID  1000 T_GPS_CHARGE  -18645.453 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  3 UNCOM_BLEED  20 PHONE_DEVICE  48
RELAUNCH  1 RAFOS_PEAK_OFFSET  1.5 VBD_MAXERRORS  1 GPS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  0 RAFOS_DEVICE  -1
MAX_BUOY  120 RAFOS_HIT_WINDOW  3600 AH0_24V  146 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  155 AH0_10V  100 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  3934 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2613 PRESSURE_YINT  -22.900637 SEABIRD_T_G  0.0043896637
RHO  1.028 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.000115925 SEABIRD_T_H  0.00063842954
MASS  51810 PITCH_CNV  0.003125763 AD7714Ch0Gain  128 SEABIRD_T_I  2.5580319e-05
NAV_MODE  2 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.7701631e-06
FERRY_MAX  45 PITCH_GAIN  22 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -10.180033
KALMAN_USE  2 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_H  1.1381946
HD_A  0.003 PITCH_AD_RATE  140 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.00092952099
HD_B  0.0099999998 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.0001655513
HD_C  9.9999997e-06 PITCH_ADJ_GAIN  0.059999999 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  012801,6303.248,325.612,36,1.6,37,-3.0 TGT_NAME  OFFSHORE
_CALLS  2 TGT_LATLONG  6506.000,-100.000
_XMS_NAKs  4 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  3.41 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -60.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  013656,6303.272,325.288,11,1.9,11,-3.0 MHEAD_RNG_PITCHd_Wd  352.7,307331,-13.7,-6.875
SPEED_LIMITS  0.119,0.206 D_GRID  847

Post-dive calculations and measurements:
FINISH  3.4,1.025056 _24V_AH  21.8,83.432
SM_CCo  22622,0.00,0.000,0,0,1987,259.77 _10V_AH  10.3,59.703
SM_GC  4.40,7.28,0.00,0.00,0.038,0.000,0.000,140,2166,1987,-7.65,-0.40,259.77 DATA_FILE_SIZE  44388,856
IRIDIUM_FIX  6239.86,324.50,011098,010159 CAP_FILE_SIZE  184643,0
TT8_MAMPS  0.026845 CFSIZE  260165632,210022400
HUMID  1818 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  9.22297 CURRENT  0.095,287.5,1
TCM_TEMP  19.20 GPS  070709,075721,6306.394,322.076,119,2.2,139,-3.0
XPDR_PINGS  1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor35196150.46 SBE_CT59424311.29
Roll_motor21474347.57 SBE_O262919260.88
VBD_pump_during_apogee33513109580.76 WL_BB2F339105777.80
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init53103121.06 nil000.00
Iridium_during_connect100160350.11 nil000.00
Iridium_during_xfer184223897.90
Transponder_ping04202.29
Mmodem_TX000.00
Mmodem_RX000.00
GPS13506.81
TT8192219392.13
LPSleep178912403.59
TT8_Active52119106.37
TT8_Sampling200539822.24
TT8_CF880645380.32
TT8_Kalman000.00
Analog_circuits162112200.48
GPS_charging000.00
Compass19758162.80
RAFOS000.00
Transponder050.03

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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
18 -0.77 -116.7 0.0 0.0 0 26 0.00 0.00 -6.32 0.000 2 0.000 0.000 122 2152 1914
30 -0.77 -116.7 3.5 -0.0 1 112 8.23 2.28 -65.30 0.000 4 0.196 0.055 2358 785 3524
153 -0.11 -116.7 13.0 -16.2 20 161 0.73 2.15 0.00 0.000 6 0.137 0.035 2573 2181 3524
504 -1.04 -116.7 33.9 -6.8 81 510 0.80 0.00 0.00 0.000 6 0.064 0.000 2273 2183 3526
853 -0.40 -116.7 81.8 -15.2 124 859 0.62 2.30 0.00 0.000 4 0.130 0.041 2474 768 3528
918 -0.60 -116.7 87.2 -6.1 127 923 0.17 2.17 0.00 0.000 6 0.055 0.032 2398 2157 3528
1246 -0.49 -116.7 116.7 -8.8 143 1250 0.17 2.33 0.00 0.000 4 0.114 0.045 2449 3591 3528
1298 -0.66 -116.7 120.5 -6.4 145 1303 0.15 2.28 0.00 0.000 6 0.061 0.031 2380 2154 3528
1620 -0.49 -116.7 150.0 -9.4 161 1625 0.20 2.25 0.00 0.000 4 0.116 0.042 2448 766 3528
1665 -0.58 -116.7 153.5 -6.8 163 1669 0.00 2.20 0.00 0.000 6 0.000 0.033 2448 2159 3528
1995 -0.70 -116.7 174.5 -6.6 179 2000 0.17 2.33 0.00 0.000 4 0.056 0.046 2367 3588 3529
2051 -0.49 -116.7 179.8 -9.7 181 2058 0.28 2.28 0.00 0.000 6 0.110 0.032 2454 2150 3528
2369 -0.64 -116.7 200.1 -6.3 197 2374 0.15 2.20 0.00 0.000 4 0.061 0.042 2388 774 3528
2410 -0.45 -116.7 203.6 -9.2 199 2415 0.25 2.15 0.00 0.000 6 0.116 0.035 2466 2167 3528
2737 -0.65 -116.7 223.1 -5.6 215 2742 0.20 2.30 0.00 0.000 4 0.054 0.048 2374 3580 3528
2772 -0.48 -116.7 225.7 -8.8 216 2779 0.28 2.28 0.00 0.000 6 0.110 0.033 2461 2150 3528
3089 -0.67 -116.7 243.0 -5.2 232 3094 0.20 2.22 0.00 0.000 4 0.054 0.042 2368 771 3527
3124 -0.41 -116.7 245.9 -9.7 233 3131 0.38 2.17 0.00 0.000 6 0.116 0.034 2485 2153 3527
3441 -0.71 -116.7 261.6 -4.9 249 3445 0.25 2.33 0.00 0.000 4 0.051 0.044 2372 3594 3526
3504 -0.54 -116.7 266.8 -9.1 252 3509 0.20 2.28 0.00 0.000 6 0.114 0.032 2435 2161 3526
3833 -0.61 -116.7 289.7 -7.0 268 3834 0.00 0.00 0.00 0.000 6 0.000 0.000 2435 2161 3526
4161 -0.69 -116.7 313.9 -7.5 281 4163 0.12 0.00 0.00 0.000 6 0.071 0.000 2376 2161 3525
4468 -0.52 -116.7 343.3 -9.6 291 4470 0.22 0.00 0.00 0.000 6 0.116 0.000 2447 2159 3525
4772 -0.67 -116.7 362.8 -5.8 301 4774 0.15 0.00 0.00 0.000 6 0.062 0.000 2378 2159 3525
5078 -0.52 -116.7 388.4 -8.3 311 5083 0.22 2.40 0.00 0.000 4 0.115 0.050 2449 3593 3525
5152 -0.72 -116.7 392.7 -5.4 313 5157 0.20 2.33 0.00 0.000 6 0.055 0.034 2362 2149 3524
5478 -0.52 -116.7 420.3 -9.1 324 5480 0.28 0.00 0.00 0.000 6 0.112 0.000 2450 2146 3524
5785 -0.70 -116.7 438.1 -5.4 334 5790 0.17 2.40 0.00 0.000 4 0.060 0.046 2374 3594 3523
5831 -0.55 -116.7 441.8 -8.4 335 5836 0.20 2.33 0.00 0.000 6 0.116 0.034 2437 2143 3523
6150 -0.68 -116.7 460.2 -5.4 346 6152 0.15 0.00 0.00 0.000 6 0.068 0.000 2369 2144 3523
6457 -0.52 -116.7 484.9 -8.4 356 6462 0.20 2.42 0.00 0.000 4 0.120 0.050 2436 3595 3522
6491 -0.67 -116.7 487.4 -6.5 357 6496 0.12 2.30 0.00 0.000 6 0.071 0.035 2380 2172 3522
6850 -0.56 -116.7 515.7 -8.0 366 6854 0.17 2.30 0.00 0.000 4 0.117 0.045 2435 764 3520
6930 -0.64 -116.7 521.2 -6.9 367 6933 0.00 2.22 0.00 0.000 6 0.000 0.037 2435 2174 3520
7291 -0.77 -116.7 543.3 -6.1 373 7296 0.20 2.35 0.00 0.000 4 0.059 0.051 2340 3587 3519
7325 -0.49 -116.7 546.2 -9.1 373 7331 0.38 2.33 0.00 0.000 6 0.117 0.038 2457 2152 3518
7658 -0.72 -116.7 564.2 -5.3 379 7660 0.22 0.00 0.00 0.000 6 0.056 0.000 2363 2151 3517
7962 -0.53 -116.7 592.1 -9.4 384 7964 0.25 0.00 0.00 0.000 6 0.117 0.000 2442 2150 3516
8266 -0.69 -116.7 610.6 -6.0 389 8267 0.15 0.00 0.00 0.000 6 0.067 0.000 2378 2150 3514
8567 -0.57 -116.7 634.6 -8.0 394 8569 0.17 0.00 0.00 0.000 6 0.120 0.000 2432 2150 3513
8871 -0.69 -116.7 653.1 -6.0 399 8876 0.12 2.40 0.00 0.000 4 0.075 0.052 2377 3585 3512
8916 -0.59 -116.7 656.6 -7.7 399 8921 0.17 2.30 0.00 0.000 6 0.122 0.038 2430 2177 3512
9233 -0.69 -116.7 675.5 -5.9 405 9237 0.12 2.30 0.00 0.000 4 0.074 0.049 2375 769 3511
9277 -0.53 -116.7 679.1 -8.1 405 9282 0.22 2.25 0.00 0.000 6 0.120 0.039 2444 2176 3511
9594 -0.70 -116.7 695.8 -5.2 411 9599 0.17 2.35 0.00 0.000 4 0.060 0.053 2367 3581 3510
9645 -0.56 -116.7 699.7 -8.0 411 9650 0.22 2.30 0.00 0.000 6 0.117 0.038 2436 2169 3510
9956 -0.71 -116.7 717.0 -5.5 416 9961 0.15 2.30 0.00 0.000 4 0.071 0.048 2374 764 3509
9991 -0.53 -116.7 719.6 -8.1 416 9995 0.22 2.22 0.00 0.000 6 0.123 0.039 2440 2177 3509
10325 -0.70 -116.7 738.7 -5.7 422 10329 0.15 2.35 0.00 0.000 4 0.067 0.052 2377 3591 3508
10375 -0.61 -116.7 742.6 -7.5 422 10380 0.12 2.33 0.00 0.000 6 0.129 0.040 2414 2170 3508
10686 -0.61 -116.7 762.9 -6.5 427 10690 0.00 2.28 0.00 0.000 4 0.000 0.049 2414 770 3507
10726 -0.61 -116.7 766.0 -7.8 427 10730 0.00 2.25 0.00 0.000 6 0.000 0.039 2414 2178 3507
11058 -0.61 -116.7 788.3 -6.7 433 11059 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2177 3506
11362 -0.67 -116.7 808.4 -6.6 438 11364 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2177 3505
11664 -0.67 -116.7 828.4 -6.6 443 11665 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2177 3505
11964 end dive: TARGET_DEPTH_EXCEEDED
state 11964 begin apogee
11972 -0.23 0.0 848.0 6.5 448 12073 0.38 0.00 97.38 1.310 6 0.114 0.000 2536 2273 3045
12073 end apogee: CONTROL_FINISHED_OK
state 12073 begin climb
12077 0.77 116.7 850.1 0.0 449 12187 0.95 0.00 106.95 1.287 6 0.076 0.000 2857 2272 2570
12444 0.56 126.8 834.7 6.5 455 12459 0.20 2.38 9.62 1.144 4 0.133 0.053 2793 3686 2528
12471 0.60 163.7 833.0 5.4 455 12510 0.00 2.33 33.08 1.256 6 0.000 0.035 2796 2255 2377
12812 0.75 189.0 813.2 5.9 461 12842 0.17 2.38 22.40 1.235 4 0.059 0.048 2878 858 2274
12894 0.58 189.0 806.4 9.2 462 12899 0.28 2.22 0.00 0.000 6 0.123 0.035 2794 2265 2272
13245 0.77 213.9 785.4 5.9 468 13270 0.20 0.00 22.67 1.230 6 0.061 0.000 2878 2265 2172
13546 0.62 213.9 757.2 9.6 473 13551 0.20 2.30 0.00 0.000 4 0.117 0.050 2810 3675 2168
13574 0.62 213.9 754.8 7.9 473 13578 0.00 2.28 0.00 0.000 6 0.000 0.037 2810 2259 2168
13913 0.77 221.5 732.3 6.6 479 13928 0.15 2.33 7.45 1.081 4 0.063 0.046 2878 855 2141
13957 0.64 221.5 728.4 10.1 479 13962 0.20 2.20 0.00 0.000 6 0.122 0.035 2817 2256 2140
14278 0.75 221.5 705.1 7.2 485 14283 0.12 2.33 0.00 0.000 4 0.069 0.054 2874 3683 2139
14335 0.54 221.5 699.6 10.3 485 14342 0.30 2.28 0.00 0.000 6 0.123 0.037 2786 2259 2139
14646 0.81 240.0 680.0 6.1 491 14671 0.22 2.35 17.15 1.180 4 0.056 0.045 2891 850 2066
14713 0.65 240.0 673.6 10.4 492 14718 0.22 2.22 0.00 0.000 6 0.121 0.036 2823 2262 2064
15080 0.77 240.0 644.2 7.9 498 15085 0.12 2.33 0.00 0.000 4 0.073 0.054 2878 3670 2064
15125 0.57 240.0 639.4 11.7 498 15130 0.28 2.28 0.00 0.000 6 0.120 0.036 2794 2257 2063
15442 0.82 253.1 618.7 6.4 504 15462 0.22 2.35 12.38 1.116 4 0.055 0.046 2894 853 2013
15480 0.66 253.1 615.1 9.1 504 15485 0.22 2.22 0.00 0.000 6 0.121 0.035 2826 2266 2012
15807 0.79 253.1 590.3 7.5 510 15811 0.12 2.30 0.00 0.000 4 0.071 0.051 2881 3683 2010
15843 0.62 253.1 586.8 10.4 510 15848 0.22 2.28 0.00 0.000 6 0.122 0.035 2813 2257 2010
16170 0.81 253.1 562.8 7.2 516 16175 0.17 2.28 0.00 0.000 4 0.059 0.048 2891 852 2010
16192 0.81 253.1 560.6 8.1 516 16196 0.00 2.22 0.00 0.000 6 0.000 0.035 2891 2273 2009
16537 0.67 253.1 524.6 10.6 522 16541 0.20 2.30 0.00 0.000 4 0.124 0.051 2824 3688 2009
16570 0.73 253.1 521.0 9.1 522 16574 0.00 2.25 0.00 0.000 6 0.000 0.035 2824 2260 2009
16908 0.87 253.1 494.1 7.8 529 16913 0.20 2.25 0.00 0.000 4 0.058 0.044 2911 868 2009
16926 0.87 253.1 492.4 8.2 529 16930 0.00 2.22 0.00 0.000 6 0.000 0.035 2911 2278 2008
17245 0.67 253.1 455.4 11.6 540 17250 0.25 2.30 0.00 0.000 4 0.124 0.050 2827 3674 2008
17268 0.67 253.1 452.9 11.5 540 17274 0.00 2.25 0.00 0.000 6 0.000 0.037 2828 2262 2008
17582 0.80 253.1 426.8 8.4 551 17587 0.12 2.25 0.00 0.000 4 0.069 0.045 2891 860 2008
17645 0.70 253.1 420.0 11.3 553 17650 0.17 2.20 0.00 0.000 6 0.122 0.035 2839 2265 2007
17982 0.79 253.1 390.9 8.3 564 17985 0.00 2.30 0.00 0.000 4 0.000 0.051 2839 3684 2007
18032 0.79 253.1 386.1 9.2 565 18036 0.00 2.25 0.00 0.000 6 0.000 0.034 2839 2259 2007
18357 0.88 253.1 361.3 7.4 576 18362 0.17 2.22 0.00 0.000 4 0.059 0.044 2919 870 2007
18421 0.68 253.1 354.7 11.4 578 18426 0.28 2.20 0.00 0.000 6 0.121 0.035 2835 2275 2007
18762 0.80 253.1 328.5 7.5 589 18767 0.10 2.33 0.00 0.000 4 0.078 0.053 2882 3682 2007
18791 0.70 253.1 325.7 9.8 590 18796 0.15 2.25 0.00 0.000 6 0.127 0.034 2837 2275 2007
19127 0.81 253.1 299.6 7.6 601 19131 0.10 2.30 0.00 0.000 4 0.074 0.046 2888 855 2007
19205 0.73 253.1 292.0 8.6 604 19210 0.15 2.22 0.00 0.000 6 0.126 0.033 2843 2271 2007
19523 0.82 253.1 266.6 8.0 619 19527 0.10 2.30 0.00 0.000 4 0.074 0.048 2894 3684 2007
19557 0.63 253.1 262.8 10.5 620 19564 0.28 2.25 0.00 0.000 6 0.117 0.031 2809 2257 2007
19874 0.86 253.1 240.1 7.2 636 19879 0.22 2.25 0.00 0.000 4 0.053 0.042 2911 859 2007
19931 0.69 253.1 234.0 10.3 638 19938 0.25 2.20 0.00 0.000 6 0.117 0.031 2834 2268 2007
20248 0.83 253.1 209.0 7.5 654 20252 0.12 2.30 0.00 0.000 4 0.068 0.047 2891 3675 2008
20277 0.71 253.1 206.0 11.5 655 20281 0.17 2.25 0.00 0.000 6 0.124 0.031 2839 2256 2008
20593 0.83 253.1 179.9 8.1 670 20598 0.12 2.25 0.00 0.000 4 0.065 0.041 2898 860 2008
20656 0.73 253.1 173.2 11.6 673 20661 0.17 2.17 0.00 0.000 6 0.120 0.031 2844 2265 2008
20991 0.83 253.1 143.7 8.4 689 20995 0.12 2.30 0.00 0.000 4 0.065 0.045 2905 3674 2009
21013 0.75 253.1 141.1 10.2 690 21018 0.17 2.25 0.00 0.000 6 0.128 0.030 2853 2251 2010
21336 0.82 253.1 112.5 8.8 706 21340 0.00 2.25 0.00 0.000 4 0.000 0.043 2853 860 2010
21392 0.91 253.1 107.4 8.9 708 21397 0.15 2.15 0.00 0.000 6 0.061 0.031 2924 2241 2010
21716 0.68 253.1 69.1 12.1 724 21720 0.28 2.35 0.00 0.000 4 0.115 0.044 2831 3677 2011
21761 0.80 253.1 64.8 8.0 726 21765 0.10 2.28 0.00 0.000 6 0.071 0.032 2884 2254 2011
22102 0.80 253.1 33.4 8.9 780 22108 0.00 2.28 0.00 0.000 4 0.000 0.042 2887 862 2011
22160 0.80 253.1 27.8 9.4 790 22167 0.00 2.17 0.00 0.000 6 0.000 0.032 2887 2261 2011
22508 0.90 258.4 5.3 6.7 851 22523 0.00 2.35 6.40 0.578 4 0.000 0.046 2887 3671 1991
22527 end climb: SURFACE_DEPTH_REACHED
state 22527 begin surface coast
22540 end surface coast: CONTROL_FINISHED_OK
state 22540 begin surface