Connection Event: Carrier Detect found.480207 Iridium console active and ready... Vehicle Name: ru39 Curr Time: Fri Feb 23 00:57:05 2024 MT: 480207 DR Location: 3938.885 N -7301.122 E measured 44.679 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3939.946 N -7302.975 E measured 94.737 secs ago GPS Location: 3938.885 N -7301.122 E measured 44.773 secs ago sensor:c_wpt_lat(lat)=3929.0386 29673 secs ago sensor:c_wpt_lon(lon)=-7245.9957 29673 secs ago sensor:m_battery(volts)=15.8862061250869 23.814 secs ago sensor:m_coulomb_amphr(amp-hrs)=41.2947740000012 3.892 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=41.2410240000013 3.896 secs ago sensor:m_depth(m)=0 3.797 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 0.048 secs ago not found>*.ma< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] sensor:m_gps_mag_var(rad)=0.230383461263252 44.819 secs ago sensor:m_iridium_attempt_num(nodim)=1 36.02 secs ago sensor:m_iridium_call_num(nodim)=1309 0.059 secs ago sensor:m_iridium_dialed_num(nodim)=1705 8.159 secs ago sensor:m_leakdetect_voltage(volts)=2.5 19.66 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49319291819292 19.624 secs ago sensor:m_leakdetect_voltage_science(volts)=2.4949938949939 19.588 secs ago sensor:m_tot_num_inflections(nodim)=28635 128.795 secs ago sensor:m_vacuum(inHg)=8.76668393162393 15.856 secs ago sensor:m_water_vx(m/s)=0.071887264168762 60.77 secs ago sensor:m_water_vy(m/s)=-0.04251908507179 60.774 secs ago sensor:u_max_altimeter(m)=200 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 428059 secs ago sensor:x_last_wpt_lat(lat)=3940. not found>*.dat< not found>*.ini< not found>*.cfg< [dockzr | dockszr] [?][-v N][-nosmartdir][-f rf | irid][-cd dir][-noremove] [-archive] [-d ] ... [[-d ... ] ... ] 7613 29673.1 secs ago sensor:x_last_wpt_lon(lon)=-7305.3889 29673.1 secs ago ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_4 entered B_ERROR state ABORT HISTORY: last abort time: 2024-02-17T11:23:23 ABORT HISTORY: last abort segment: ru39-2024-046-4-24 (0138.0024) ABORT HISTORY: last abort mission: 100_nw.mi 480207 No login script found for processing. Glider ru39 at surface. Because:no comms for a while [behavior surface_4 start_when = 12.0] MissionName:100_nw.mi MissionNum:ru39-2024-048-0-101 (0139.0101) Vehicle Name: ru39 Curr Time: Fri Feb 23 00:57:44 2024 MT: 480247 DR Location: 3938.885 N -7301.122 E measured 84.178 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3939.946 N -7302.975 E measured 134.235 secs ago GPS Location: 3938.885 N -7301.122 E measured 84.271 secs ago sensor:c_wpt_lat(lat)=3929.0386 29712.5 secs ago sensor:c_wpt_lon(lon)=-7245.9957 29712.5 secs ago sensor:m_battery(volts)=15.8862061250869 63.312 secs ago sensor:m_coulomb_amphr(amp-hrs)=41.2998940000012 3.306 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=41.2461440000013 3.31 secs ago sensor:m_depth(m)=0 3.212 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1023 7.551 secs ago sensor:m_gps_mag_var(rad)=0.230383461263252 84.318 secs ago sensor:m_iridium_attempt_num(nodim)=1 75.518 secs ago sensor:m_iridium_call_num(nodim)=1309 39.557 secs ago sensor:m_iridium_dialed_num(nodim)=1705 47.657 secs ago sensor:m_leakdetect_voltage(volts)=2.5 59.158 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49319291819292 59.122 secs ago sensor:m_leakdetect_voltage_science(volts)=2.4949938949939 59.087 secs ago sensor:m_tot_num_inflections(nodim)=28635 168.293 secs ago sensor:m_vacuum(inHg)=8.76668393162393 55.354 secs ago sensor:m_water_vx(m/s)=0.071887264168762 100.268 secs ago sensor:m_water_vy(m/s)=-0.04251908507179 100.272 secs ago sensor:u_max_altimeter(m)=200 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 428099 secs ago sensor:x_last_wpt_lat(lat)=3940.7613 29712.6 secs ago sensor:x_last_wpt_lon(lon)=-7305.3889 29712.6 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 3/ 3/ 0 odd: 209/ 138/ 2 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_4 entered B_ERROR state ABORT HISTORY: last abort time: 2024-02-17T11:23:23 ABORT HISTORY: last abort segment: ru39-2024-046-4-24 (0138.0024) ABORT HISTORY: last abort mission: 100_nw.mi Hit Control-R to RESUME the mission, i.e. dive! Hit Control-C to END the mission, i.e. GliderDos Hit Control-E to extend surface time by 5 minutes. Hit Control-W to get device warning reports. Hit Control-F to re-read yo, goto_l, surface, sample, drift_ mafiles. Hit H <0:1> to Hangup and call back in minutes at 0-primary 1-alternate number. Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files Hit ! to execute Hit Control-T to consci to science computer when comms ready: ... communications ready for consci. Water Velocity Calculations waiting for final gps fix(ideally -36 secs) Waypoint: (3929.0386,-7245.9957) Range: 28308m, Bearing: 142deg, Age: 8:15h:m Time until diving is: 515 secs s -num=3 *.sbd *.tbd *.tcd *.scd *.vem *.azf *.asc *.obs *.mrd -------------------------------- 480270 15 01390101.mcg LOG FILE CLOSED SCIENCE DATA LOGGING: science IS running CONSCI REQUESTED (using IRIDIUM as console) ASKING SCIENCE COMPUTER TO SWITCH TO COMMAND MODE via IRIDIUM SWITCHING TO SCIENCE COMMAND MODE over IRIDIUM Normal operation resumes when: SciDos> QUIT -or- Lose CD (unplug freewave/hangup iridium) -or- run longer than U_SCI_CMD_MAX_CONSCI_TIME(3600)s 480279 18 Neutering the Freewave Console SCI: Implicitly limiting total transfer to 1800 secs, representing 180 KB total size SCI: Enumerating and selecting files About to send 3 files Prechecking is not necessary for this invocation START **B00000000000000 Starting zModem transfer of 01390101.tcd to/from ru39 size is 29589 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 5120 Total Bytes sent/received: 6144 Total Bytes sent/received: 7168 Total Bytes sent/received: 8192 Total Bytes sent/received: 9216 Total Bytes sent/received: 10240 Total Bytes sent/received: 11264 Total Bytes sent/received: 12288 Total Bytes sent/received: 13312 Total Bytes sent/received: 14336 Total Bytes sent/received: 15360 Total Bytes sent/received: 16384 Total Bytes sent/received: 17408 Total Bytes sent/received: 18432 Total Bytes sent/received: 19456 Total Bytes sent/received: 20480 Total Bytes sent/received: 21504 Total Bytes sent/received: 22528 Total Bytes sent/received: 23552 Total Bytes sent/received: 24577 Total Bytes sent/received: 24576 Total Bytes sent/received: 25600 Total Bytes sent/received: 26624 Total Bytes sent/received: 27648 Total Bytes sent/received: 28672 Total Bytes sent/received: 29589 zModem transfer DONE for file 01390101.tcd Starting zModem transfer of 01390100.tcd to/from ru39 size is 369 Total Bytes sent/received: 369 zModem transfer DONE for file 01390100.tcd Starting zModem transfer of 01390101.azf to/from ru39 size is 8574 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 5120 Total Bytes sent/received: 6144 Total Bytes sent/received: 7168 Total Bytes sent/received: 8192 Total Bytes sent/received: 8574 zModem transfer DONE for file 01390101.azf .. SCI: Sent 3 file(s): 01390101.tcd 01390100.tcd 01390101.azf SCI: SUCCESS 480559 86 Freewave console restored REVERTING FROM SCIENCE COMMAND MODE SCIENCE COMMAND MODE TERMINATED because: Science Program QUIT (cts lowered) 480562 GLD: Enumerating and selecting files About to send 2 files Prechecking is not necessary for this invocation selected IRIDIUM 480562 save_and_change_sensors().... Changed u_use_ctd_depth_for_flying from 0 to 0 Changed c_science_on from 1 to 0 480562 save_and_change_sensors().... Changed c_science_printout from 0 to 0 Waiting for motors idle START **B00000000000000 Starting zModem transfer of 01390101.scd to/from ru39 size is 11532 Total Bytes sent/received: 1024 Total Bytes sent/received: 2048 Total Bytes sent/received: 3072 Total Bytes sent/received: 4096 Total Bytes sent/received: 5120 Total Bytes sent/received: 6144 Total Bytes sent/received: 7168 Total Bytes sent/received: 8192 Total Bytes sent/received: 9216 Total Bytes sent/received: 10240 Total Bytes sent/received: 11264 Total Bytes sent/received: 11532 zModem transfer DONE for file 01390101.scd Starting zModem transfer of 01390100.scd to/from ru39 size is 806 Total Bytes sent/received: 806 zModem transfer DONE for file 01390100.scd O480656 restore_sensors().... Restored u_use_ctd_depth_for_flying from 0 to 0 Restored c_science_on from 0 to 1 480656 restore_sensors().... 480656 restore_sensors().... Restored c_science_printout from 0 to 0 SHUFFLING FILES .. 480656 GLD: Sent 2 file(s): 01390101.scd 01390100.scd GLD: SUCCESS Glider-Science software version match: 10.080000 Science hardware version is 3.000000 480660 87 SCI:PROGLET house_elf begin() called 480660 SCI: house_elf: Version 1.2 480660 SCI:PROGLET ctd41cp begin() called 480660 SCI: ctd41cp: Version 0.2 480660 SCI: ctd41cp: Will be sending the following data to glider: 480660 SCI: sci_water_cond(s/m) 480660 SCI: sci_water_temp(degc) 480660 SCI: sci_water_pressure(bar) 480660 SCI: sci_ctd41cp_timestamp(timestamp) 480660 SCI:PROGLET sbe41n_ph begin() called 480660 SCI:PROGLET flbbcd begin() called 480660 SCI: flbbcd: Version 0.0 480660 SCI: flbbcd: Will be sending following data to glider: 480660 SCI: sci_flbbcd_chlor_units(ug/l) 480660 SCI: sci_flbbcd_bb_units(nodim) 480660 SCI: sci_flbbcd_cdom_units(ppb) 480660 SCI: sci_flbbcd_chlor_sig(nodim) 480660 SCI: sci_flbbcd_bb_sig(nodim) 480660 SCI: sci_flbbcd_cdom_sig(nodim) 480660 SCI: sci_flbbcd_chlor_ref(nodim) 480660 SCI: sci_flbbcd_bb_ref(nodim) 480660 SCI: sci_flbbcd_cdom_ref(nodim) 480660 SCI: sci_flbbcd_therm(nodim) 480660 SCI: sci_flbbcd_timestamp(timestamp) 480660 SCI:Bit(0) raise count is now 0. 480660 SCI:Bit(0) raise count is now 0. 480660 SCI:PROGLET azfp begin() called 480660 SCI:PROGLET house_elf start() called 480660 SCI: house_elf_run(): 0 error(s) in a row. (5 is fatal) 480660 SCI: house_elf_run(): 0 error(s) since house_elf_begin(). (50 is fatal) 480674 90 01390102.mcg LOG FILE OPENED -------------------------------- 480674 behavior surface_4: SUBSTATE 7 ->7 : After data transmission, waiting for control-C to exit/resume Glider ru39 at surface. Because:no comms for a while [behavior surface_4 start_when = 12.0] MissionName:100_nw.mi MissionNum:ru39-2024-048-0-102 (0139.0102) Vehicle Name: ru39 Curr Time: Fri Feb 23 01:04:53 2024 MT: 480676 DR Location: 3938.885 N -7301.122 E measured 513.115 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3939.946 N -7302.975 E measured 563.172 secs ago GPS Location: 3938.885 N -7301.122 E measured 513.208 secs ago sensor:c_wpt_lat(lat)=3929.0386 30141.4 secs ago sensor:c_wpt_lon(lon)=-7245.9957 30141.4 secs ago sensor:m_battery(volts)=15.8813445193179 0.321 secs ago sensor:m_coulomb_amphr(amp-hrs)=41.3536060000012 0.418 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=41.2998560000013 0.422 secs ago sensor:m_depth(m)=0 0.234 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1022 0.652 secs ago sensor:m_gps_mag_var(rad)=0.230383461263252 513.255 secs ago sensor:m_iridium_attempt_num(nodim)=0 408.767 secs ago sensor:m_iridium_call_num(nodim)=1309 468.494 secs ago sensor:m_iridium_dialed_num(nodim)=1705 476.594 secs ago sensor:m_leakdetect_voltage(volts)=2.49996947496948 0.217 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49236874236874 0.181 secs ago sensor:m_leakdetect_voltage_science(volts)=2.49493284493284 0.146 secs ago sensor:m_tot_num_inflections(nodim)=28635 597.231 secs ago sensor:m_vacuum(inHg)=9.34894632478633 0.325 secs ago sensor:m_water_vx(m/s)=0.071887264168762 529.206 secs ago sensor:m_water_vy(m/s)=-0.04251908507179 529.21 secs ago sensor:u_max_altimeter(m)=200 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 428528 secs ago sensor:x_last_wpt_lat(lat)=3940.7613 30141.5 secs ago sensor:x_last_wpt_lon(lon)=-7305.3889 30141.5 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 3/ 3/ 0 odd: 209/ 138/ 2 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_4 entered B_ERROR state ABORT HISTORY: last abort time: 2024-02-17T11:23:23 ABORT HISTORY: last abort segment: ru39-2024-046-4-24 (0138.0024) ABORT HISTORY: last abort mission: 100_nw.mi Hit Control-R to RESUME the mission, i.e. dive! Hit Control-C to END the mission, i.e. GliderDos Hit Control-E to extend surface time by 5 minutes. Hit Control-W to get device warning reports. Hit Control-F to re-read yo, goto_l, surface, sample, drift_ mafiles. Hit H <0:1> to Hangup and call back in minutes at 0-primary 1-alternate number. Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files Hit ! to execute Hit Control-T to consci to science computer when comms ready: ... communications ready for consci. Water Velocity Calculations waiting for final gps fix(ideally -465 secs) Waypoint: (3929.0386,-7245.9957) Range: 28308m, Bearing: 142deg, Age: 8:22h:m Time until diving is: 598 secs :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:0.0637 C_FIN:0.0000 :OOD:digifin_mgr_ctrl:OUT OF DEADBAND: M_FIN:-0.0608 C_FIN:0.0000 ^W name in ALLCAPS means CRITICAL device (* => SUPERCRITICAL) [I Installed] [- Not_Installed] [u In_use] [- Not_In_use] [X Out_of_Service] name limits stats (#total/#mission/#segment) os w/s w/m os errors warnings oddities 0 simdrvr - 1 test_driver - 2 ARGOS* I u -1 20 5 0 3 WATCHDOG I u -1 -1 -1 0 4 DEADMAN I u -1 20 5 0 5 CONSOLE* I u -1 20 5 0 6 GPS I u -1 20 5 0 [ 0 0 0] [ 3 3 0] [ 0 0 0] 7 attitude_rev I u 3 20 5 0 8 ocean_pressure I u 3 20 5 0 9 vacuum I u 3 20 5 0 10 battery I u 3 20 5 0 11 air_pump I u 3 20 5 0 12 pitch_motor I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 2 1 0] 13 science_super I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 10 2 0] 14 digifin I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 147 112 2] 15 altimeter - 16 altimeter_232 I u 3 20 5 0 17 IRIDIUM* I u -1 20 5 0 [ 0 0 0] [ 0 0 0] [ 36 10 0] 18 leakdetect I u 3 20 5 0 19 recovery - 20 coulomb I u 3 20 5 0 [ 0 0 0] [ 0 0 0] [ 14 13 0] 21 veh_temp I u 3 20 5 0 22 BUOYANCY_PUMP I u 3 20 3 0 23 DE_PUMP - 24 HD_PUMP - 25 thruster - devices:(t/m/s) errs: 0/ 0/ 0 warn: 3/ 3/ 0 odd: 209/ 138/ 2 I heard a character ('CR'), but not the right one Drained the following 2 pending chars from input buffer: 12 0d ^R CR .. Glider ru39 at surface. Because:no comms for a while [behavior surface_4 start_when = 12.0] MissionName:100_nw.mi MissionNum:ru39-2024-048-0-102 (0139.0102) Vehicle Name: ru39 Curr Time: Fri Feb 23 01:05:35 2024 MT: 480717 DR Location: 3938.885 N -7301.122 E measured 554.579 secs ago GPS TooFar: 69696969.000 N 69696969.000 E measured 1e+308 secs ago GPS Invalid : 3939.946 N -7302.975 E measured 604.637 secs ago GPS Location: 3938.885 N -7301.122 E measured 554.673 secs ago sensor:c_wpt_lat(lat)=3929.0386 30182.9 secs ago sensor:c_wpt_lon(lon)=-7245.9957 30182.9 secs ago sensor:m_battery(volts)=15.8813445193179 41.786 secs ago sensor:m_coulomb_amphr(amp-hrs)=41.3599580000012 3.312 secs ago sensor:m_coulomb_amphr_total(amp-hrs)=41.3062080000013 3.316 secs ago sensor:m_depth(m)=0 3.217 secs ago sensor:m_digifin_leakdetect_reading(nodim)=1021 3.547 secs ago sensor:m_gps_mag_var(rad)=0.230383461263252 554.719 secs ago sensor:m_iridium_attempt_num(nodim)=0 450.232 secs ago sensor:m_iridium_call_num(nodim)=1309 509.959 secs ago sensor:m_iridium_dialed_num(nodim)=1705 518.059 secs ago sensor:m_leakdetect_voltage(volts)=2.49996947496948 41.682 secs ago sensor:m_leakdetect_voltage_forward(volts)=2.49236874236874 41.646 secs ago sensor:m_leakdetect_voltage_science(volts)=2.49493284493284 41.611 secs ago sensor:m_tot_num_inflections(nodim)=28635 638.696 secs ago sensor:m_vacuum(inHg)=9.34894632478633 41.79 secs ago sensor:m_water_vx(m/s)=0.071887264168762 570.671 secs ago sensor:m_water_vy(m/s)=-0.04251908507179 570.675 secs ago sensor:u_max_altimeter(m)=200 1e+308 secs ago sensor:u_min_water_depth(m)=0 1e+308 secs ago sensor:u_use_current_correction(nodim)=1 428569 secs ago sensor:x_last_wpt_lat(lat)=3940.7613 30183 secs ago sensor:x_last_wpt_lon(lon)=-7305.3889 30183 secs ago devices:(t/m/s) errs: 0/ 0/ 0 warn: 3/ 3/ 0 odd: 209/ 138/ 2 ABORT HISTORY: total since reset: 2 ABORT HISTORY: last abort cause: MS_ABORT_BEH_ERROR ABORT HISTORY: last abort details: layered_control(): Behavior surface_4 entered B_ERROR state ABORT HISTORY: last abort time: 2024-02-17T11:23:23 ABORT HISTORY: last abort segment: ru39-2024-046-4-24 (0138.0024) ABORT HISTORY: last abort mission: 100_nw.mi Hit Control-R to RESUME the mission, i.e. dive! Hit Control-C to END the mission, i.e. GliderDos Hit Control-E to extend surface time by 5 minutes. Hit Control-W to get device warning reports. Hit Control-F to re-read yo, goto_l, surface, sample, drift_ mafiles. Hit H <0:1> to Hangup and call back in minutes at 0-primary 1-alternate number. Hit S [-f={rf}|{irid] [-num=] [-t=] [filespec ...] to send log files Hit ! to execute Hit Control-T to consci to science computer when comms ready: ... communications ready for consci. Water Velocity Calculations waiting for final gps fix(ideally -506 secs) Waypoint: (3929.0386,-7245.9957) Range: 28308m, Bearing: 142deg, Age: 8:23h:m Time until diving is: 556 secs ^R480737 6 behavior surface_4: User typed Control-R, resuming I heard a Control-R RESUMING MISSION 480737 01390102.mcg LOG FILE CLOSED Doing system wide housekeeping....... report_heap_size(): M_FREE_HEAP=241.3K(247052 bytes) M_MIN_FREE_HEAP=160.5K(164380 bytes) M_SRAM_FREE_HEAP=1293.4K(1324480 bytes) M_SRAM_MIN_FREE_HEAP=1165.4K(1193368 bytes) Running algorithm to free disk space if required Not necessary to delete any files at this time Scanning free space... Megabytes used on c: = 90.289062 Megabytes available on c: = 7784.710938 Megabytes used on w: = 0.021973 Megabytes available on w: = 0.978027 Writing longterm state disk file: c:/state/longterm.sta f_coulomb_battery_capacity(amp-hrs) 225.000000 f_ocean_pressure_min(volts) 0.089032 m_avg_climb_rate(m/s) -0.148114 m_avg_speed(m/s) 0.277637 m_avg_upward_inflection_time(sec) 23.012482 m_battery(volts) 15.881345 m_coulomb_amphr_total(amp-hrs) 41.308656 m_iridium_call_num(nodim) 1309.000000 m_iridium_dialed_num(nodim) 1705.000000 m_lat(lat) 3938.885300 m_lon(lon) -7301.122000 m_pump_effective_num_cycles(nodim) 1632.281591 m_tot_ballast_pumped_energy(kjoules) 3311.387352 m_tot_horz_dist(km) 1838.167581 m_tot_num_inflections(nodim) 28635.000000 m_tot_num_thermal_valve_cmd(nodim) 0.000000 m_weight_drop(bool) 0.000000 s_water_depth_avg(m) 200.000000 s_water_depth_delta(m) 0.000000 s_water_depth_wavelength(m) 100.000000 x_hover_ballast_deep