Glider dive log

PortSusan 02Aug07 * SG116 * Dive index * Mission links * Dive 101 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 116 HD_C 9.9999997e-06 PITCH_AD_RATE 140 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 1 HEADING -1 PITCH_MAXERRORS 1 ALTIM_PING_DEPTH 90

DIVE 101 ESCAPE_HEADING 0 ROLL_MIN 197 ALTIM_PING_DELTA 10

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3899 ALTIM_FREQUENCY 12

D_FLARE 10 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2305 ALTIM_PULSE 2

D_TGT 100 TGT_DEFAULT_LAT 48.099998 C_ROLL_CLIMB 2385 ALTIM_SENSITIVITY 2

D_ABORT 250 TGT_DEFAULT_LON -122.4 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_FINISH 0 SM_CC 400 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_PITCH 0 N_FILEKB 4 R_PORT_OVSHOOT 28 DEEPGLIDERMB 0

D_SAFE 0 FILEMGR 0 R_STBD_OVSHOOT 26 MOTHERBOARD 4

D_CALL 0 CALL_NDIVES 1 ROLL_AD_RATE 350 DEVICE1 2

SURFACE_URGENCY 0 COMM_SEQ 0 ROLL_MAXERRORS 1 DEVICE2 -1

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 VBD_MIN 582 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3893 DEVICE4 -1

T_DIVE 40 UPLOAD_DIVES_MAX -1 C_VBD 3628 DEVICE5 -1

T_MISSION 100 CALL_TRIES 5 VBD_DBAND 2 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 SMARTS 0

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 360 SMARTDEVICE1 19

T_TURN_SAMPINT 6 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE2 5

T_NO_W 60 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 4 COMPASS_DEVICE 33

USE_BATHY -4 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 3 PHONE_DEVICE 48

USE_ICE 0 N_GPS 20 VBD_BLEED_AD_RATE 8 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 UNCOM_BLEED 20 RAFOS_DEVICE -1

D_OFFGRID 100 T_GPS_CHARGE -22226.592 VBD_MAXERRORS 1 XPDR_DEVICE 24

T_WATCHDOG 10 T_RSLEEP 7 CF8_MAXERRORS 10 SIM_W 0

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 AH0_24V 91.800003 SIM_PITCH 0

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 AH0_10V 61.200001 SEABIRD_T_G 0.0043692421

MAX_BUOY 70 RAFOS_HIT_WINDOW 3600 PRESSURE_YINT -0.027055658 SEABIRD_T_H 0.00064200797

COURSE_BIAS 0 PITCH_MIN 375 PRESSURE_SLOPE 0.0001158926 SEABIRD_T_I 2.5127896e-05

GLIDE_SLOPE 30 PITCH_MAX 3702 AD7714Ch0Gain 128 SEABIRD_T_J 2.6026396e-06

SPEED_FACTOR 1 C_PITCH 3050 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.124196

RHO 1.023 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1538335

MASS 51359 PITCH_CNV 0.0046000001 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0024262846

KALMAN_USE 1 P_OVSHOOT 0.039999999 ALTIM_TOP_PING_RANGE 10 SEABIRD_C_J 0.00024878574

HD_A 0.003 PITCH_GAIN 11 ALTIM_BOTTOM_TURN_MARGIN 0

HD_B 0.0099999998 PITCH_TIMEOUT 18 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_CALL 0 PITCH_DBAND 0.1 SM_CC 400

AH0_10V 61.200001 D_FINISH 0 PITCH_GAIN 11 SPEED_FACTOR 1

AH0_24V 91.800003 D_FLARE 10 PITCH_MAX 3702 SURFACE_URGENCY 0

ALTIM_BOTTOM_PING_RANGE 0 D_NO_BLEED 200 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_OFFGRID 100 PITCH_MIN 375 SURFACE_URGENCY_TRY 0

ALTIM_FREQUENCY 12 D_PITCH 0 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PING_DELTA 10 D_SAFE 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_PING_DEPTH 90 D_SURF 2 PRESSURE_SLOPE 0.0001158926 TGT_AUTO_DEFAULT 0

ALTIM_PULSE 2 D_TGT 100 PRESSURE_YINT -0.027055658 TGT_DEFAULT_LAT 48.099998

ALTIM_SENSITIVITY 2 ESCAPE_HEADING 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.4

ALTIM_TOP_MIN_OBSTACLE 1 ESCAPE_HEADING_DELTA 10 RAFOS_CORR_THRESH 60 T_ABORT 1440

ALTIM_TOP_PING_RANGE 10 FILEMGR 0 RAFOS_DEVICE -1 T_DIVE 40

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_HIT_WINDOW 3600 T_GPS 15

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_NDIVES 1 GPS_DEVICE 32 RELAUNCH 1 T_GPS_CHARGE -22226.592

CALL_TRIES 5 HD_A 0.003 RHO 1.023 T_MISSION 100

CALL_WAIT 60 HD_B 0.0099999998 ROLL_AD_RATE 350 T_NO_W 60

CAPMAXSIZE 100000 HD_C 9.9999997e-06 ROLL_CNV 0.028270001 T_RSLEEP 7

CAPUPLOAD 0 HEADING -1 ROLL_MAX 3899 T_TURN 225

CF8_MAXERRORS 10 HEAD_ERRBAND 10 ROLL_MAXERRORS 1 T_TURN_SAMPINT 6

COMM_SEQ 0 HEAPDBG 0 ROLL_MIN 197 T_WATCHDOG 10

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_TIMEOUT 15 UNCOM_BLEED 20

COURSE_BIAS 0 ID 116 R_PORT_OVSHOOT 28 UPLOAD_DIVES_MAX -1

C_PITCH 3050 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 26 USE_BATHY -4

C_ROLL_CLIMB 2385 INT_PRESSURE_YINT 0 SEABIRD_C_G -10.124196 USE_ICE 0

C_ROLL_DIVE 2305 KALMAN_USE 1 SEABIRD_C_H 1.1538335 VBD_BLEED_AD_RATE 8

C_VBD 3628 MASS 51359 SEABIRD_C_I -0.0024262846 VBD_CNV -0.24529999

DEEPGLIDER 0 MAX_BUOY 70 SEABIRD_C_J 0.00024878574 VBD_DBAND 2

DEEPGLIDERMB 0 MISSION 1 SEABIRD_T_G 0.0043692421 VBD_MAX 3893

DEVICE1 2 MOTHERBOARD 4 SEABIRD_T_H 0.00064200797 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 4 SEABIRD_T_I 2.5127896e-05 VBD_MIN 582

DEVICE3 -1 N_GPS 20 SEABIRD_T_J 2.6026396e-06 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SIM_PITCH 0 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SIM_W 0 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SMARTDEVICE1 19 XPDR_DEVICE 24

DIVE 101 PITCH_AD_RATE 140 SMARTDEVICE2 5

D_ABORT 250 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 181637,4805.785,-12222.232,14,1.9,24,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 250.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.003,0.172

_SM_DEPTHo 0.84 KALMAN_X -7608.2,0.8,-95.8,3293.3,-142.4

_SM_ANGLEo -64.0 KALMAN_Y 6991.4,28.9,-27.1,1560.0,-26.3

GPS2 182250,4805.837,-12222.333,11,1.9,16,18.3 MHEAD_RNG_PITCHd_Wd 340.8,2306,-22.4,-8.333

SPEED_LIMITS 0.144,0.172 D_GRID 104

Post-dive calculations and measurements:

FINISH 1.2,1.021693 XPDR_PINGS 1

SM_CCo 2933,113.05,0.588,0,0,1997,400.08 ALTIM_TOP_PING 9.7,999.0

SM_GC 0.90,0.00,0.00,113.05,0.000,0.000,0.588,368,2287,1997,-12.34,-0.51,400.08 _24V_AH 23.8,21.488

IRIDIUM_FIX 4748.51,-12217.40,060807,212104 _10V_AH 10.0,14.411

TT8_MAMPS 0.089739 DATA_FILE_SIZE 9704,282

HUMID 2058 CFSIZE 254570496,249606144

INTERNAL_PRESSURE 11.2602 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.60 GPS 060807,191547,4806.044,-12222.475,13,2.5,32,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 213 173.30 SBE_CT 189 24 108.34

Roll_motor 35 66 57.01 nil 0 0 0.00

VBD_pump_during_apogee 210 678 3397.26 nil 0 0 0.00

VBD_pump_during_surface 113 587 1580.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 96.25 nil 0 0 0.00

Iridium_during_connect 60 160 231.13 nil 0 0 0.00

Iridium_during_xfer 146 223 777.42

Transponder_ping 3508 420 35065.97

GPS 43 50 21.89

TT8 237 19 47.05

LPSleep 1886 2 41.32

TT8_Active 418 19 82.89

TT8_Sampling 586 39 233.51

TT8_CF8 361 45 165.55

TT8_Kalman 33 81 27.26

Analog_circuits 727 12 87.35

GPS_charging 0 0 0.00

Compass 521 8 41.72

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

24 -2.12 -68.4 0.0 0.0 0 98 0.00 0.00 -69.18 0.000 6 0.000 0.000 368 2288 3895

100 -2.12 -68.4 4.2 -8.4 12 123 14.45 2.65 0.00 0.000 4 0.213 0.058 2581 3705 3898

374 -2.12 -68.4 27.3 -9.4 48 379 0.00 2.47 0.00 0.000 6 0.000 0.037 2581 2301 3902

576 -2.12 -68.4 43.6 -7.8 64 581 0.00 2.60 0.00 0.000 4 0.000 0.060 2583 3700 3902

723 -2.12 -68.4 54.8 -7.2 75 733 0.00 2.45 0.00 0.000 6 0.000 0.038 2582 2296 3903

1049 -2.12 -68.4 79.2 -7.9 101 1054 0.00 2.58 0.00 0.000 4 0.000 0.063 2581 907 3903

1307 -2.12 -68.4 98.8 -7.3 120 1312 0.00 2.47 0.00 0.000 6 0.000 0.037 2581 2307 3903

1330 -0.45 0.0 100.1 7.1 122 1422 2.00 0.00 79.47 0.656 6 0.140 0.000 2947 2396 3628

1426 2.12 68.4 102.0 0.0 130 1516 2.75 2.67 78.45 0.637 4 0.094 0.067 3509 3777 3350

1542 2.12 68.4 94.5 8.7 139 1548 0.00 2.47 0.00 0.000 6 0.000 0.037 3507 2388 3349

1864 2.12 68.4 66.4 8.7 165 1869 0.00 2.60 0.00 0.000 4 0.000 0.064 3506 3774 3349

1983 2.12 68.4 55.7 8.6 174 1988 0.00 2.45 0.00 0.000 6 0.000 0.037 3506 2387 3348

2311 2.12 69.4 28.3 8.3 200 2316 0.00 2.60 0.00 0.000 4 0.000 0.064 3506 3777 3348

2562 2.12 80.1 8.9 7.5 230 2580 0.00 2.45 9.80 0.678 6 0.000 0.038 3506 2386 3301

2648 2.13 141.1 3.9 3.3 243 2701 0.00 2.62 42.80 0.620 4 0.000 0.060 3506 3783 3051

ID	116	HD_C	9.9999997e-06	PITCH_AD_RATE	140	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	1	HEADING	-1	PITCH_MAXERRORS	1	ALTIM_PING_DEPTH	90
DIVE	101	ESCAPE_HEADING	0	ROLL_MIN	197	ALTIM_PING_DELTA	10
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3899	ALTIM_FREQUENCY	12
D_FLARE	10	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2305	ALTIM_PULSE	2
D_TGT	100	TGT_DEFAULT_LAT	48.099998	C_ROLL_CLIMB	2385	ALTIM_SENSITIVITY	2
D_ABORT	250	TGT_DEFAULT_LON	-122.4	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_FINISH	0	SM_CC	400	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_PITCH	0	N_FILEKB	4	R_PORT_OVSHOOT	28	DEEPGLIDERMB	0
D_SAFE	0	FILEMGR	0	R_STBD_OVSHOOT	26	MOTHERBOARD	4
D_CALL	0	CALL_NDIVES	1	ROLL_AD_RATE	350	DEVICE1	2
SURFACE_URGENCY	0	COMM_SEQ	0	ROLL_MAXERRORS	1	DEVICE2	-1
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	VBD_MIN	582	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3893	DEVICE4	-1
T_DIVE	40	UPLOAD_DIVES_MAX	-1	C_VBD	3628	DEVICE5	-1
T_MISSION	100	CALL_TRIES	5	VBD_DBAND	2	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	SMARTS	0
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	360	SMARTDEVICE1	19
T_TURN_SAMPINT	6	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE2	5
T_NO_W	60	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	COMPASS_DEVICE	33
USE_BATHY	-4	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	3	PHONE_DEVICE	48
USE_ICE	0	N_GPS	20	VBD_BLEED_AD_RATE	8	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	UNCOM_BLEED	20	RAFOS_DEVICE	-1
D_OFFGRID	100	T_GPS_CHARGE	-22226.592	VBD_MAXERRORS	1	XPDR_DEVICE	24
T_WATCHDOG	10	T_RSLEEP	7	CF8_MAXERRORS	10	SIM_W	0
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	AH0_24V	91.800003	SIM_PITCH	0
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	AH0_10V	61.200001	SEABIRD_T_G	0.0043692421
MAX_BUOY	70	RAFOS_HIT_WINDOW	3600	PRESSURE_YINT	-0.027055658	SEABIRD_T_H	0.00064200797
COURSE_BIAS	0	PITCH_MIN	375	PRESSURE_SLOPE	0.0001158926	SEABIRD_T_I	2.5127896e-05
GLIDE_SLOPE	30	PITCH_MAX	3702	AD7714Ch0Gain	128	SEABIRD_T_J	2.6026396e-06
SPEED_FACTOR	1	C_PITCH	3050	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.124196
RHO	1.023	PITCH_DBAND	0.1	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1538335
MASS	51359	PITCH_CNV	0.0046000001	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0024262846
KALMAN_USE	1	P_OVSHOOT	0.039999999	ALTIM_TOP_PING_RANGE	10	SEABIRD_C_J	0.00024878574
HD_A	0.003	PITCH_GAIN	11	ALTIM_BOTTOM_TURN_MARGIN	0
HD_B	0.0099999998	PITCH_TIMEOUT	18	ALTIM_TOP_TURN_MARGIN	0

GPS1	181637,4805.785,-12222.232,14,1.9,24,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	250.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.003,0.172
_SM_DEPTHo	0.84	KALMAN_X	-7608.2,0.8,-95.8,3293.3,-142.4
_SM_ANGLEo	-64.0	KALMAN_Y	6991.4,28.9,-27.1,1560.0,-26.3
GPS2	182250,4805.837,-12222.333,11,1.9,16,18.3	MHEAD_RNG_PITCHd_Wd	340.8,2306,-22.4,-8.333
SPEED_LIMITS	0.144,0.172	D_GRID	104

FINISH	1.2,1.021693	XPDR_PINGS	1
SM_CCo	2933,113.05,0.588,0,0,1997,400.08	ALTIM_TOP_PING	9.7,999.0
SM_GC	0.90,0.00,0.00,113.05,0.000,0.000,0.588,368,2287,1997,-12.34,-0.51,400.08	_24V_AH	23.8,21.488
IRIDIUM_FIX	4748.51,-12217.40,060807,212104	_10V_AH	10.0,14.411
TT8_MAMPS	0.089739	DATA_FILE_SIZE	9704,282
HUMID	2058	CFSIZE	254570496,249606144
INTERNAL_PRESSURE	11.2602	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	060807,191547,4806.044,-12222.475,13,2.5,32,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	213	173.30	SBE_CT	189	24	108.34
Roll_motor	35	66	57.01	nil	0	0	0.00
VBD_pump_during_apogee	210	678	3397.26	nil	0	0	0.00
VBD_pump_during_surface	113	587	1580.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	96.25	nil	0	0	0.00
Iridium_during_connect	60	160	231.13	nil	0	0	0.00
Iridium_during_xfer	146	223	777.42
Transponder_ping	3508	420	35065.97
GPS	43	50	21.89
TT8	237	19	47.05
LPSleep	1886	2	41.32
TT8_Active	418	19	82.89
TT8_Sampling	586	39	233.51
TT8_CF8	361	45	165.55
TT8_Kalman	33	81	27.26
Analog_circuits	727	12	87.35
GPS_charging	0	0	0.00
Compass	521	8	41.72
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
24	-2.12	-68.4	0.0	0.0	0	98	0.00	0.00	-69.18	0.000	6	0.000	0.000	368	2288	3895
100	-2.12	-68.4	4.2	-8.4	12	123	14.45	2.65	0.00	0.000	4	0.213	0.058	2581	3705	3898
374	-2.12	-68.4	27.3	-9.4	48	379	0.00	2.47	0.00	0.000	6	0.000	0.037	2581	2301	3902
576	-2.12	-68.4	43.6	-7.8	64	581	0.00	2.60	0.00	0.000	4	0.000	0.060	2583	3700	3902
723	-2.12	-68.4	54.8	-7.2	75	733	0.00	2.45	0.00	0.000	6	0.000	0.038	2582	2296	3903
1049	-2.12	-68.4	79.2	-7.9	101	1054	0.00	2.58	0.00	0.000	4	0.000	0.063	2581	907	3903
1307	-2.12	-68.4	98.8	-7.3	120	1312	0.00	2.47	0.00	0.000	6	0.000	0.037	2581	2307	3903
1330	-0.45	0.0	100.1	7.1	122	1422	2.00	0.00	79.47	0.656	6	0.140	0.000	2947	2396	3628
1426	2.12	68.4	102.0	0.0	130	1516	2.75	2.67	78.45	0.637	4	0.094	0.067	3509	3777	3350
1542	2.12	68.4	94.5	8.7	139	1548	0.00	2.47	0.00	0.000	6	0.000	0.037	3507	2388	3349
1864	2.12	68.4	66.4	8.7	165	1869	0.00	2.60	0.00	0.000	4	0.000	0.064	3506	3774	3349
1983	2.12	68.4	55.7	8.6	174	1988	0.00	2.45	0.00	0.000	6	0.000	0.037	3506	2387	3348
2311	2.12	69.4	28.3	8.3	200	2316	0.00	2.60	0.00	0.000	4	0.000	0.064	3506	3777	3348
2562	2.12	80.1	8.9	7.5	230	2580	0.00	2.45	9.80	0.678	6	0.000	0.038	3506	2386	3301
2648	2.13	141.1	3.9	3.3	243	2701	0.00	2.62	42.80	0.620	4	0.000	0.060	3506	3783	3051