NANOOS Sep13 * SG108 * Dive index * Mission links * Dive 549 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  108 ESCAPE_HEADING  0 HEAD_ERRBAND  10 ALTIM_PULSE  4
MISSION  25 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  4
DIVE  549 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 XPDR_VALID  5
N_DIVES  0 TGT_DEFAULT_LAT  6000 R_PORT_OVSHOOT  74 XPDR_INHIBIT  90
D_SURF  4 TGT_DEFAULT_LON  -5500 R_STBD_OVSHOOT  53 INT_PRESSURE_SLOPE  0.0097660003
D_FLARE  3 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  300 INT_PRESSURE_YINT  0
D_TGT  990 SM_CC  350 ROLL_MAXERRORS  2 DEEPGLIDER  0
D_ABORT  1030 N_FILEKB  4 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_NO_BLEED  200 FILEMGR  0 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_BOOST  20 CALL_NDIVES  1 VBD_MIN  448 DEVICE1  -1
T_BOOST  5 COMM_SEQ  0 VBD_MAX  4001 DEVICE2  -1
D_FINISH  0 PROTOCOL  1 C_VBD  3009 DEVICE3  -1
D_PITCH  0 N_NOCOMM  1 VBD_DBAND  2 DEVICE4  -1
D_SAFE  0 NOCOMM_ACTION  163 VBD_CNV  -0.24529999 DEVICE5  -1
D_CALL  0 N_NOSURFACE  0 VBD_TIMEOUT  720 DEVICE6  -1
SURFACE_URGENCY  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.003 LOGGERS  3
SURFACE_URGENCY_TRY  0 CALL_TRIES  5 VBD_PUMP_AD_RATE_SURFACE  3 LOGGERDEVICE1  53
SURFACE_URGENCY_FORCE  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_APOGEE  2 LOGGERDEVICE2  86
T_DIVE  410 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
T_MISSION  430 CAPMAXSIZE  100000 UNCOM_BLEED  20 LOGGERDEVICE4  -1
T_ABORT  1440 HEAPDBG  0 VBD_MAXERRORS  1 COMPASS_DEVICE  97
T_TURN  225 T_GPS  5 W_ADJ_DBAND  0 COMPASS2_DEVICE  -1
T_TURN_SAMPINT  5 N_GPS  20 DBDW  0 PHONE_DEVICE  48
T_NO_W  120 T_GPS_ALMANAC  0 PITCH_W_GAIN  0 GPS_DEVICE  32
T_LOITER  0 T_GPS_CHARGE  -194895.23 PITCH_W_DBAND  0 RAFOS_DEVICE  -1
T_EPIRB  0 T_RSLEEP  3 CF8_MAXERRORS  0 XPDR_DEVICE  24
USE_BATHY  -1 STROBE  0 AH0_24V  150 SIM_W  0
USE_ICE  0 RAFOS_PEAK_OFFSET  1.5 AH0_10V  108 SIM_PITCH  0
ICE_FREEZE_MARGIN  0.1 RAFOS_CORR_THRESH  60 MINV_24V  22 SEABIRD_T_G  0.0042902208
D_OFFGRID  1000 RAFOS_HIT_WINDOW  3600 MINV_10V  9 SEABIRD_T_H  0.00062879291
T_WATCHDOG  10 PITCH_MIN  350 FG_AHR_10V  0 SEABIRD_T_I  2.3436274e-05
RELAUNCH  1 PITCH_MAX  3700 FG_AHR_24V  0 SEABIRD_T_J  2.4509632e-06
APOGEE_PITCH  -5 C_PITCH  3200 PHONE_SUPPLY  -2 SEABIRD_C_G  -9.8955164
MAX_BUOY  110 PITCH_DBAND  0.1 PRESSURE_YINT  -21.975828 SEABIRD_C_H  1.1345812
COURSE_BIAS  0 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.0001161151 SEABIRD_C_I  -0.0014690319
GLIDE_SLOPE  30 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_C_J  0.0002024868
SPEED_FACTOR  1 PITCH_GAIN  20 TCM_PITCH_OFFSET  0 SC_RECORDABOVE  2000.0
RHO  1.0275 PITCH_TIMEOUT  20 TCM_ROLL_OFFSET  0 SC_PROFILE  3.0
MASS  51925 PITCH_AD_RATE  150 COMPASS_USE  4 SC_XMITPROFILE  3.0
MASS_COMP  0 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 PM_RECORDABOVE  2000.0
NAV_MODE  2 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0 PM_PROFILE  1.0
FERRY_MAX  45 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  0 PM_XMITPROFILE  1.0
KALMAN_USE  2 ROLL_MIN  294 ALTIM_TOP_TURN_MARGIN  0 PM_XMITRAW  0.0
HD_A  0.0020999999 ROLL_MAX  3598 ALTIM_TOP_MIN_OBSTACLE  0 PM_NDIVE  14.0
HD_B  0.0116 ROLL_DEG  40 ALTIM_PING_DEPTH  0
HD_C  9.4299997e-07 C_ROLL_DIVE  2300 ALTIM_PING_DELTA  10
HEADING  -1 C_ROLL_CLIMB  2025 ALTIM_FREQUENCY  13

Pre-dive calculations and measurements:
GPS1  030114,140834,4747.159,-12523.114,31,0.9,31,17.2 TGT_NAME  SHELF
_CALLS  1 TGT_LATLONG  4751.930,-12510.270
_XMS_NAKs  0 TGT_RADIUS  2500.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.72 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  030114,141711,4747.096,-12523.104,19,1.1,20,17.2 MHEAD_RNG_PITCHd_Wd  75.0,18288,-15.8,-8.049,-22.04,2046
SPEED_LIMITS  0.139,0.199 D_GRID  724

Post-dive calculations and measurements:
FINISH  1.8,1.024608 _24V_AH  23.6,57.214
SM_CCo  13036,74.72,0.058,0,0,1582,350.04 _10V_AH  9.8,56.721
SM_GC  2.64,8.88,0.45,74.72,0.048,0.045,0.058,338,2317,1582,-8.87,-1.33,350.04,0,0,0,0,0,0,25.96,26.22,25.88 FG_AHR_24Vo  0.000
IRIDIUM_FIX  4729.30,-12517.37,030114,101058 FG_AHR_10Vo  0.000
TT8_MAMPS  0.026964,0.026964 MEM  258800
HUMID  56.26 DATA_FILE_SIZE  23382,667
INTERNAL_PRESSURE  9.01402 CAP_FILE_SIZE  164810,0
TCM_TEMP  17.90 CFSIZE  260034560,196431872
XPDR_PINGS  0 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
SC_FREEKB  3762464 CURRENT  0.094,302.1,1
PM_FREEKB  2218096 GPS  030114,175734,4747.507,-12521.910,33,0.9,33,17.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21230117.92 nil000.00
Roll_motor9645104.59 nil000.00
VBD_pump_during_apogee3608517247.94 nil000.00
VBD_pump_during_surface7458102.53 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1302151546.00
Iridium_during_xfer276123808.25 PMAR3111074.43
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS20296.07
TT8203211234.05
LPSleep83802179.87
TT8_Active5411162.40
TT8_Sampling213038808.33
TT8_CF853749259.06
TT8_Kalman000.00
Analog_circuits198715311.06
GPS_charging000.00
Compass14767108.38
RAFOS000.00
Transponder050.03

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
20 end surface: CONTROL_FINISHED_OK
state 20 begin dive
24 -1.11 -107.1 341 2314 1621 1502 0.0 0.0 0 72 0.00 0.00 -40.90 0.000 16386 0.000 0.000 341 2313 2631 2668 2594 0 0 0 0 0 0 28.83 28.83 28.83
77 -1.11 -107.1 341 2313 2670 2599 3.1 -1.2 7 127 10.02 2.25 -22.62 0.000 18948 0.230 0.046 2846 906 3451 3483 3420 0 0 0 0 0 0 25.10 25.96 26.42
359 -1.11 -107.1 2846 906 3490 3425 50.1 -16.8 43 371 0.00 2.17 0.00 0.000 1030 0.000 0.032 2839 2302 3457 3490 3425 0 0 0 0 0 0 28.83 26.08 28.83
665 -1.11 -107.1 2839 2302 3491 3426 93.4 -12.8 59 676 0.00 2.15 0.00 0.000 516 0.000 0.030 2846 896 3458 3491 3426 0 0 0 0 0 0 28.83 26.15 28.83
908 -1.11 -107.1 2845 896 3493 3426 121.9 -12.0 70 918 0.00 2.17 0.00 0.000 1030 0.000 0.031 2839 2308 3459 3493 3426 0 0 0 0 0 0 28.83 26.20 28.83
1229 -1.11 -107.1 2838 2307 3493 3426 164.9 -13.6 86 1240 0.00 1.90 0.00 0.000 260 0.000 0.043 2829 3586 3460 3493 3427 0 0 0 0 0 0 28.83 26.10 28.83
1301 -1.11 -107.1 2828 3586 3493 3426 175.3 -14.3 89 1312 0.00 1.83 0.00 0.000 1030 0.000 0.025 2830 2288 3460 3493 3427 0 0 0 0 0 0 28.83 26.39 28.83
1631 -1.11 -107.1 2829 2288 3493 3426 220.7 -13.2 105 1641 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 2288 3459 3493 3426 0 0 0 0 0 0 28.83 28.83 28.83
1931 -1.11 -107.1 2829 2288 3493 3426 259.0 -12.4 120 1941 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 2288 3459 3493 3426 0 0 0 0 0 0 28.83 28.83 28.83
2231 -1.11 -107.1 2829 2288 3493 3426 294.5 -11.3 135 2242 0.00 1.98 0.00 0.000 260 0.000 0.044 2823 3593 3459 3493 3426 0 0 0 0 0 0 28.83 26.11 28.83
2295 -1.11 -107.1 2821 3593 3493 3426 300.4 -11.5 137 2307 0.00 1.85 0.00 0.000 1030 0.000 0.025 2822 2282 3459 3493 3426 0 0 0 0 0 0 28.83 26.44 28.83
2601 -1.11 -107.1 2822 2282 3492 3426 337.0 -11.7 153 2612 0.00 1.98 0.00 0.000 260 0.000 0.041 2813 3595 3459 3492 3426 0 0 0 0 0 0 28.83 26.13 28.83
2653 -1.11 -107.1 2812 3595 3491 3426 343.2 -12.1 155 2665 0.12 1.85 0.00 0.000 3078 0.176 0.025 2844 2293 3459 3492 3426 0 0 0 0 0 0 25.95 26.44 28.83
2984 -1.11 -107.1 2844 2292 3492 3426 379.7 -10.8 171 2995 0.00 1.98 0.00 0.000 260 0.000 0.043 2837 3593 3458 3491 3426 0 0 0 0 0 0 28.83 26.12 28.83
3056 -1.11 -107.1 2836 3593 3491 3426 387.6 -10.9 174 3067 0.00 1.83 0.00 0.000 1030 0.000 0.025 2838 2288 3458 3491 3426 0 0 0 0 0 0 28.83 26.44 28.83
3386 -1.11 -107.1 2838 2288 3490 3426 424.3 -10.9 190 3397 0.00 2.08 0.00 0.000 516 0.000 0.031 2838 905 3458 3490 3426 0 0 0 0 0 0 28.83 26.27 28.83
3489 -1.11 -107.1 2838 905 3490 3426 434.6 -11.5 194 3500 0.00 2.15 0.00 0.000 1030 0.000 0.031 2832 2310 3458 3490 3426 0 0 0 0 0 0 28.83 26.29 28.83
3810 -1.11 -107.1 2832 2310 3490 3426 471.6 -10.7 210 3821 0.00 2.15 0.00 0.000 516 0.000 0.030 2838 902 3458 3490 3426 0 0 0 0 0 0 28.83 26.27 28.83
3855 -1.11 -107.1 2837 902 3490 3426 475.0 -10.8 211 3867 0.00 2.15 0.00 0.000 1030 0.000 0.032 2831 2305 3457 3489 3426 0 0 0 0 0 0 28.83 26.27 28.83
4161 -1.11 -107.1 2830 2304 3489 3426 509.1 -10.4 227 4172 0.00 1.90 0.00 0.000 260 0.000 0.043 2821 3583 3457 3489 3426 0 0 0 0 0 0 28.83 26.10 28.83
4200 -1.11 -107.1 2820 3583 3488 3426 512.2 -10.4 228 4211 0.00 1.80 0.00 0.000 1030 0.000 0.026 2821 2302 3457 3488 3426 0 0 0 0 0 0 28.83 26.44 28.83
4520 -1.11 -107.1 2820 2302 3488 3425 547.1 -10.3 244 4531 0.00 2.10 0.00 0.000 516 0.000 0.031 2821 904 3456 3489 3424 0 0 0 0 0 0 28.83 26.27 28.83
4555 -1.11 -107.1 2820 904 3488 3424 550.3 -10.4 245 4566 0.00 2.15 0.00 0.000 1030 0.000 0.031 2814 2305 3456 3488 3424 0 0 0 0 0 0 28.83 26.27 28.83
4880 -1.11 -107.1 2813 2304 3487 3424 586.1 -10.8 261 4890 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2304 3455 3486 3424 0 0 0 0 0 0 28.83 28.83 28.83
5203 -1.11 -107.1 2813 2304 3485 3423 621.3 -11.3 274 5214 0.00 2.15 0.00 0.000 516 0.000 0.030 2813 904 3454 3485 3423 0 0 0 0 0 0 28.83 26.25 28.83
5288 -1.11 -107.1 2813 904 3485 3423 629.8 -11.5 276 5300 0.15 2.17 0.00 0.000 3078 0.170 0.031 2842 2307 3454 3485 3423 0 0 0 0 0 0 25.75 26.26 28.83
5615 -1.11 -107.1 2842 2306 3485 3422 664.3 -9.9 287 5625 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 2306 3453 3485 3422 0 0 0 0 0 0 28.83 28.83 28.83
5914 -1.11 -107.1 2842 2306 3484 3422 695.5 -10.6 297 5924 0.00 0.00 0.00 0.000 6 0.000 0.000 2842 2306 3453 3484 3422 0 0 0 0 0 0 28.83 28.83 28.83
6181 end dive: TARGET_DEPTH_EXCEEDED
state 6181 begin apogee
6190 -0.25 0.0 2842 2025 3484 3422 724.5 -11.3 306 6352 0.85 0.00 145.20 0.851 10246 0.134 0.000 3110 2017 3005 3087 2924 0 0 0 0 0 0 25.12 28.83 24.01
6354 end apogee: CONTROL_FINISHED_OK
state 6354 begin climb
6358 1.11 107.1 3110 2017 3084 2921 728.1 0.0 311 6509 1.27 0.00 141.40 0.783 10502 0.076 0.000 3554 2018 2571 2664 2479 0 0 0 0 0 0 25.10 28.83 23.58
6791 1.11 107.1 3554 2017 2639 2465 682.3 12.2 326 6802 0.00 2.17 0.00 0.000 516 0.000 0.034 3563 637 2552 2640 2465 0 0 0 0 0 0 28.83 25.86 28.83
6836 1.11 107.1 2752 637 2583 2456 677.3 12.5 327 6847 0.00 2.17 0.00 0.000 1030 0.000 0.028 3563 2024 2552 2640 2465 0 0 0 0 0 0 28.83 25.97 28.83
7171 1.11 107.1 3563 2023 2634 2463 635.1 12.4 338 7182 0.00 2.15 0.00 0.000 260 0.000 0.041 3563 3439 2548 2634 2463 0 0 0 0 0 0 28.83 26.06 28.83
7222 1.11 107.1 3563 3439 2634 2462 629.8 12.7 339 7233 0.00 2.08 0.00 0.000 1030 0.000 0.025 3573 2015 2548 2634 2462 0 0 0 0 0 0 28.83 26.26 28.83
7542 1.11 107.1 3573 2014 2633 2461 586.3 13.1 351 7553 0.00 2.12 0.00 0.000 516 0.000 0.034 3583 639 2547 2633 2461 0 0 0 0 0 0 28.83 26.18 28.83
7614 1.11 107.1 3583 639 2632 2461 577.2 12.9 354 7626 0.00 2.15 0.00 0.000 1030 0.000 0.028 3583 2027 2546 2631 2461 0 0 0 0 0 0 28.83 26.27 28.83
7946 1.11 107.1 3583 2027 2630 2460 532.3 14.1 370 7957 0.00 2.10 0.00 0.000 260 0.000 0.041 3583 3424 2545 2631 2460 0 0 0 0 0 0 28.83 26.15 28.83
7986 1.11 107.1 3583 3423 2630 2460 527.7 14.2 371 7997 0.15 2.05 0.00 0.000 5126 0.165 0.025 3555 2013 2545 2630 2460 0 0 0 0 0 0 25.86 26.38 28.83
8307 1.11 107.1 3555 2009 2630 2460 485.8 12.6 387 8318 0.00 0.00 0.00 0.000 6 0.000 0.000 3555 2009 2544 2630 2459 0 0 0 0 0 0 28.83 28.83 28.83
8607 1.11 107.1 3555 2009 2629 2459 448.1 12.6 402 8617 0.00 0.00 0.00 0.000 6 0.000 0.000 3556 2009 2544 2629 2459 0 0 0 0 0 0 28.83 28.83 28.83
8907 1.11 107.1 3555 2010 2629 2458 412.4 11.3 417 8918 0.00 2.12 0.00 0.000 516 0.000 0.035 3564 636 2544 2629 2459 0 0 0 0 0 0 28.83 26.23 28.83
8988 1.11 107.1 3563 636 2629 2459 404.6 11.0 420 8999 0.00 2.15 0.00 0.000 1030 0.000 0.029 3561 2028 2544 2629 2459 0 0 0 0 0 0 28.83 26.32 28.83
9308 1.11 107.1 3562 2028 2629 2459 369.6 10.4 436 9318 0.00 0.00 0.00 0.000 6 0.000 0.000 3562 2028 2544 2629 2459 0 0 0 0 0 0 28.83 28.83 28.83
9608 1.11 107.1 3562 2028 2628 2458 336.6 11.1 451 9620 0.00 2.10 0.00 0.000 260 0.000 0.042 3562 3422 2543 2629 2458 0 0 0 0 0 0 28.83 26.14 28.83
9706 1.11 107.1 3562 3422 2629 2458 325.6 12.1 455 9717 0.00 2.03 0.00 0.000 1030 0.000 0.026 3570 2026 2543 2629 2458 0 0 0 0 0 0 28.83 26.43 28.83
10031 1.11 107.1 3570 2017 2628 2458 288.9 10.5 471 10042 0.00 2.15 0.00 0.000 260 0.000 0.040 3571 3428 2543 2629 2458 0 0 0 0 0 0 28.83 26.15 28.83
10062 1.11 107.1 3570 3428 2628 2458 285.6 10.5 472 10073 0.00 2.05 0.00 0.000 1030 0.000 0.026 3581 2023 2543 2628 2458 0 0 0 0 0 0 28.83 26.43 28.83
10392 1.11 107.1 3580 2023 2628 2457 251.7 10.3 488 10402 0.00 0.00 0.00 0.000 6 0.000 0.000 3581 2023 2543 2628 2458 0 0 0 0 0 0 28.83 28.83 28.83
10692 1.11 107.1 3580 2023 2628 2458 219.3 11.0 503 10702 0.00 0.00 0.00 0.000 6 0.000 0.000 3581 2023 2543 2629 2458 0 0 0 0 0 0 28.83 28.83 28.83
10992 1.11 107.1 3580 2023 2628 2458 186.3 11.3 518 11003 0.00 0.00 0.00 0.000 6 0.000 0.000 3581 2023 2543 2628 2458 0 0 0 0 0 0 28.83 28.83 28.83
11293 1.11 107.1 3580 2023 2628 2458 151.8 11.5 533 11304 0.00 2.12 0.00 0.000 516 0.000 0.034 3591 640 2543 2628 2458 0 0 0 0 0 0 28.83 26.20 28.83
11373 1.11 107.1 3590 640 2627 2459 143.8 11.0 536 11385 0.12 2.15 0.00 0.000 5126 0.160 0.030 3560 2043 2543 2628 2458 0 0 0 0 0 0 25.92 26.31 28.83
11694 1.11 107.1 3559 2042 2628 2458 111.2 9.1 552 11705 0.00 2.20 0.00 0.000 516 0.000 0.033 3567 630 2543 2628 2458 0 0 0 0 0 0 28.83 26.21 28.83
11755 1.11 107.1 3567 630 2628 2458 106.5 9.1 554 11766 0.00 2.17 0.00 0.000 1030 0.000 0.029 3565 2030 2543 2629 2458 0 0 0 0 0 0 28.83 26.31 28.83
12076 1.15 119.8 3565 2030 2628 2458 78.5 7.4 570 12095 0.00 2.15 7.85 0.630 8452 0.000 0.042 3565 3428 2519 2606 2433 0 0 0 0 0 0 28.83 26.28 24.63
12130 1.21 139.2 3565 3428 2605 2432 75.0 7.1 572 12169 0.00 2.05 26.92 0.617 9222 0.000 0.025 3572 2012 2439 2524 2355 0 0 0 0 0 0 28.83 26.42 24.93
12467 1.27 160.6 3572 2012 2516 2352 44.8 7.0 592 12508 0.12 2.17 28.08 0.604 10756 0.095 0.035 3640 647 2352 2438 2267 0 0 0 0 0 0 26.32 25.96 24.89
12530 1.27 160.6 3639 646 2435 2267 39.8 8.4 597 12541 0.00 2.17 0.00 0.000 1030 0.000 0.030 3638 2033 2350 2435 2266 0 0 0 0 0 0 28.83 25.97 28.83
12848 1.32 175.4 3638 2032 2429 2263 15.7 7.3 640 12867 0.00 2.12 6.93 0.085 8452 0.000 0.040 3638 3442 2292 2380 2204 0 0 0 0 0 0 28.83 25.98 25.66
12928 1.34 184.7 3638 3442 2375 2203 8.3 7.6 653 12942 0.00 2.08 4.32 0.064 9222 0.000 0.024 3647 2012 2255 2346 2164 0 0 0 0 0 0 28.83 26.25 25.83
12967 end climb: SURFACE_DEPTH_REACHED
state 12967 begin surface coast
13011 end surface coast: CONTROL_FINISHED_OK
state 13011 begin surface