Linearized model: Predictions were generated on 17-May-2021 at 00:14:30 using OpenFAST, compiled as a 64-bit application using single precision at commit Unversioned from 718d46f707d78e85edf1b49d3b1a63e8e23e1aae linked with NWTC Subroutine Library; ElastoDyn; AeroDyn; ServoDyn; HydroDyn; MAP++ (<1.20.10>, ) Description from the FAST input file: HWS_CASE8 openFAST project for Hywind Scotland HS4 Floating spar-mounted HAWT by B. Stachowicz for the engineering licence thesis 2020 modified from 5MW_OC3Spar_DLL_WTurb_WavesIrr simulation from openFAST test cases. Simulation information: Simulation time: 350.0000 s Rotor Speed: 0.0000 rad/s Azimuth: 0.0000 rad Wind Speed: 0.0000 m/s Number of continuous states: 12 Number of discrete states: 0 Number of constraint states: 0 Number of inputs: 7 Number of outputs: 39 Jacobians included in this file? No Order of continuous states: Row/Column Operating Point Rotating Frame? Derivative Order Description ---------- --------------- --------------- ---------------- ----------- 1 -2.243E-01 F 2 ED Platform horizontal surge translation DOF (internal DOF index = DOF_Sg), m 2 -3.020E-02 F 2 ED Platform horizontal sway translation DOF (internal DOF index = DOF_Sw), m 3 -3.125E-01 F 2 ED Platform vertical heave translation DOF (internal DOF index = DOF_Hv), m 4 -5.377E-05 F 2 ED Platform roll tilt rotation DOF (internal DOF index = DOF_R), rad 5 -7.769E-03 F 2 ED Platform pitch tilt rotation DOF (internal DOF index = DOF_P), rad 6 1.282E-05 F 2 ED Platform yaw rotation DOF (internal DOF index = DOF_Y), rad 7 -1.946E-02 F 2 ED First time derivative of Platform horizontal surge translation DOF (internal DOF index = DOF_Sg), m/s 8 1.008E-03 F 2 ED First time derivative of Platform horizontal sway translation DOF (internal DOF index = DOF_Sw), m/s 9 -1.152E-01 F 2 ED First time derivative of Platform vertical heave translation DOF (internal DOF index = DOF_Hv), m/s 10 7.815E-07 F 2 ED First time derivative of Platform roll tilt rotation DOF (internal DOF index = DOF_R), rad/s 11 -2.374E-04 F 2 ED First time derivative of Platform pitch tilt rotation DOF (internal DOF index = DOF_P), rad/s 12 1.376E-06 F 2 ED First time derivative of Platform yaw rotation DOF (internal DOF index = DOF_Y), rad/s Order of continuous state derivatives: Row/Column Operating Point Rotating Frame? Derivative Order Description ---------- --------------- --------------- ---------------- ----------- 1 -1.946E-02 F 2 First time derivative of ED Platform horizontal surge translation DOF (internal DOF index = DOF_Sg), m/s 2 1.008E-03 F 2 First time derivative of ED Platform horizontal sway translation DOF (internal DOF index = DOF_Sw), m/s 3 -1.152E-01 F 2 First time derivative of ED Platform vertical heave translation DOF (internal DOF index = DOF_Hv), m/s 4 7.815E-07 F 2 First time derivative of ED Platform roll tilt rotation DOF (internal DOF index = DOF_R), rad/s 5 -2.374E-04 F 2 First time derivative of ED Platform pitch tilt rotation DOF (internal DOF index = DOF_P), rad/s 6 1.376E-06 F 2 First time derivative of ED Platform yaw rotation DOF (internal DOF index = DOF_Y), rad/s 7 1.623E-02 F 2 First time derivative of ED First time derivative of Platform horizontal surge translation DOF (internal DOF index = DOF_Sg), m/s/s 8 1.498E-04 F 2 First time derivative of ED First time derivative of Platform horizontal sway translation DOF (internal DOF index = DOF_Sw), m/s/s 9 -1.122E-02 F 2 First time derivative of ED First time derivative of Platform vertical heave translation DOF (internal DOF index = DOF_Hv), m/s/s 10 -9.911E-07 F 2 First time derivative of ED First time derivative of Platform roll tilt rotation DOF (internal DOF index = DOF_R), rad/s/s 11 3.033E-04 F 2 First time derivative of ED First time derivative of Platform pitch tilt rotation DOF (internal DOF index = DOF_P), rad/s/s 12 -1.021E-06 F 2 First time derivative of ED First time derivative of Platform yaw rotation DOF (internal DOF index = DOF_Y), rad/s/s Order of inputs: Column Operating Point Rotating Frame? Derivative Order Description ---------- --------------- --------------- ---------------- ----------- 1 0.000E+00 T 0 ED Blade 1 pitch command, rad 2 0.000E+00 T 0 ED Blade 2 pitch command, rad 3 0.000E+00 T 0 ED Blade 3 pitch command, rad 4 0.000E+00 F 0 ED Yaw moment, Nm 5 -4.775E+07 F 0 ED Generator torque, Nm 6 0.000E+00 F 0 ED Extended input: collective blade-pitch command, rad 7 0.000E+00 F 0 HD Extended input: wave elevation at platform ref point, m Order of outputs: Row Operating Point Rotating Frame? Derivative Order Description ---------- --------------- --------------- ---------------- ----------- 1 0.000E+00 F 0 SrvD GenPwr, (kW) 2 -4.775E+04 F 0 SrvD GenTq, (kN-m) 3 0.000E+00 T 0 ED BldPitch1, (deg) 4 1.054E+02 F 0 ED RotThrust, (kN) 5 8.880E-02 F 0 ED RotTorq, (kN-m) 6 -2.243E-01 F 0 ED PtfmSurge, (m) 7 -3.020E-02 F 0 ED PtfmSway, (m) 8 -3.125E-01 F 0 ED PtfmHeave, (m) 9 -3.081E-03 F 0 ED PtfmRoll, (deg) 10 -4.451E-01 F 0 ED PtfmPitch, (deg) 11 7.345E-04 F 0 ED PtfmYaw, (deg) 12 0.000E+00 T 0 ED OoPDefl1, (m) 13 0.000E+00 T 0 ED IPDefl1, (m) 14 5.620E-17 F 0 ED TTDspFA, (m) 15 -8.599E-19 F 0 ED TTDspSS, (m) 16 0.000E+00 F 0 ED GenSpeed, (rpm) 17 0.000E+00 F 0 ED YawPzn, (deg) 18 0.000E+00 F 0 ED Azimuth, (deg) 19 0.000E+00 F 0 ED RotSpeed, (rpm) 20 0.000E+00 F 0 ED RotAccel, (deg/s^2) 21 1.840E+04 F 0 AD RtArea, (m^2) 22 6.643E-06 F 0 AD RtAeroPwr, (W) 23 1.546E-03 F 0 AD RtTSR, (-) 24 1.632E-05 F 0 AD RtAeroCp, (-) 25 1.055E-02 F 0 AD RtAeroCq, (-) 26 1.553E-01 F 0 AD RtAeroCt, (-) 27 6.377E-06 F 0 AD RtSpeed, (rpm) 28 3.306E-02 F 0 AD RtVAvgxh, (m/s) 29 6.377E-06 F 0 AD RtSpeed, (rpm) 30 0.000E+00 F 0 HD Wave1Elev, (m) 31 9.050E+05 F 0 MAP T[1], [N] 32 5.740E+05 F 0 MAP T[2], [N] 33 5.689E+05 F 0 MAP T[3], [N] 34 9.115E+05 F 0 MAP T[4], [N] 35 5.567E+05 F 0 MAP T[5], [N] 36 5.918E+05 F 0 MAP T[6], [N] 37 9.113E+05 F 0 MAP T[7], [N] 38 6.401E+05 F 0 MAP T[8], [N] 39 5.069E+05 F 0 MAP T[9], [N] Linearized state matrices: A: 12 x 12 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 1.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 1.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 1.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 1.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 1.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 1.000E+00 -1.783E-02 -2.786E-05 -8.207E-04 -1.170E-03 -3.792E+00 1.077E-03 -1.573E-03 1.331E-05 2.044E-06 7.071E-04 3.649E-02 -7.374E-06 -2.331E-05 -1.808E-02 2.149E-05 3.814E+00 -1.077E-03 -1.988E-01 1.640E-05 -1.422E-03 3.808E-07 -3.823E-02 -6.527E-06 3.669E-04 -5.793E-05 7.156E-06 -6.491E-02 -3.192E-05 -4.187E-02 1.612E-05 -3.176E-06 -2.784E-08 -1.902E-07 -7.257E-05 2.507E-02 1.822E-05 1.361E-07 2.039E-04 -2.937E-07 -7.692E-02 3.022E-05 8.879E-03 -1.696E-07 8.956E-06 -2.055E-08 6.912E-06 -2.280E-06 -2.296E-04 -1.975E-04 -3.390E-07 -1.602E-05 -1.226E-05 -7.575E-02 -2.119E-05 -1.106E-05 1.253E-07 3.280E-08 7.827E-06 -2.877E-05 -8.500E-07 1.461E-05 -4.387E-04 -3.198E-08 1.139E-01 -1.065E-03 -7.971E-01 -5.120E-08 2.968E-05 2.044E-06 1.049E-03 -1.466E-05 -6.356E-04 B: 12 x 7 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 -3.443E-08 -2.075E-06 -1.185E-06 0.000E+00 0.000E+00 -3.294E-06 0.000E+00 -1.955E-07 -3.585E-07 3.933E-07 0.000E+00 0.000E+00 -1.607E-07 0.000E+00 -2.364E-10 1.021E-07 1.037E-07 0.000E+00 0.000E+00 2.056E-07 0.000E+00 3.233E-09 1.442E-08 -1.415E-08 0.000E+00 0.000E+00 3.507E-09 0.000E+00 -5.779E-10 -3.363E-08 -1.887E-08 0.000E+00 0.000E+00 -5.308E-08 0.000E+00 1.368E-08 -1.210E-06 1.114E-06 0.000E+00 0.000E+00 -8.276E-08 0.000E+00 C: 39 x 12 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 -2.427E-20 0.000E+00 4.163E-18 -3.166E-23 1.374E-19 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 5.287E+00 8.513E-03 -4.022E-01 3.274E-01 2.996E+03 -4.512E-01 3.152E-01 -5.479E-03 3.699E-03 4.956E-02 -9.591E+00 -5.813E-02 8.974E-02 -2.082E+01 2.539E-02 7.497E+03 -1.020E+01 -6.336E+03 -4.272E-01 -6.155E-01 7.061E-02 2.236E+01 -4.373E+01 4.279E+00 1.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 1.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 1.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 5.730E+01 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 5.730E+01 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 5.730E+01 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 2.749E-15 -2.233E-15 3.338E-15 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 7.110E-15 1.499E-17 -6.393E-17 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 -9.546E+00 2.611E-02 -1.202E+02 -3.021E+00 -3.108E+03 -4.776E-01 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 -5.211E-12 2.604E-12 5.211E-12 -2.004E-04 -9.149E-05 -2.351E-03 -2.950E-04 -2.736E-05 3.648E-05 7.826E+00 -2.919E-02 -6.302E-01 -4.009E-07 1.112E-09 -5.047E-06 -4.583E-02 2.054E-03 -5.494E-01 4.707E-02 3.782E-07 -3.715E-03 2.308E+03 4.556E+00 -1.839E+02 8.452E-09 -1.546E-09 1.063E-07 -4.904E-04 -4.659E-05 -5.750E-03 9.378E-04 -6.720E-05 -2.945E-05 1.922E+01 8.951E-02 -1.547E+00 8.198E-06 -1.503E-06 1.030E-04 -5.762E-03 -4.497E-02 -5.704E-04 2.436E-01 -4.346E-02 6.622E-03 1.653E+01 2.257E+01 -1.160E+01 8.054E-05 -2.277E-07 1.011E-03 -1.526E-02 9.514E-01 1.237E-02 4.490E+00 -1.519E-01 -3.855E-01 2.212E+01 4.402E+02 -5.816E+00 0.000E+00 0.000E+00 0.000E+00 -1.887E-04 -1.362E-05 -2.258E-03 0.000E+00 0.000E+00 0.000E+00 9.519E+00 7.922E-05 -7.583E-01 6.936E-15 5.275E-16 8.707E-14 -2.109E-04 -1.163E-01 -9.290E-04 -9.968E-01 -8.068E-06 7.941E-02 1.189E-03 -9.607E+01 5.166E-03 0.000E+00 0.000E+00 0.000E+00 -1.887E-04 -1.362E-05 -2.258E-03 0.000E+00 0.000E+00 0.000E+00 9.519E+00 7.922E-05 -7.583E-01 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 6.528E+04 -3.223E+00 3.111E+04 -4.036E+02 -1.227E+06 -6.842E+02 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 3.021E+04 3.357E+03 1.504E+04 2.125E+06 -5.654E+05 -2.143E+06 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 3.017E+04 -3.359E+03 1.500E+04 -2.126E+06 -5.645E+05 2.143E+06 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 -3.286E+04 5.700E+04 3.126E+04 1.067E+06 6.042E+05 2.178E+04 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 -1.769E+04 2.409E+04 1.460E+04 -5.740E+05 2.126E+06 -2.154E+06 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 -1.273E+04 2.865E+04 1.560E+04 1.556E+06 -1.569E+06 2.173E+06 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 -3.304E+04 -5.731E+04 3.135E+04 -1.073E+06 6.074E+05 -2.107E+04 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 -1.277E+04 -2.879E+04 1.562E+04 -1.563E+06 -1.575E+06 -2.185E+06 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 -1.780E+04 -2.425E+04 1.466E+04 5.751E+05 2.136E+06 2.167E+06 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 D: 39 x 7 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 5.730E+01 0.000E+00 0.000E+00 0.000E+00 0.000E+00 5.730E+01 0.000E+00 -4.052E-05 -3.411E-03 -2.162E-03 0.000E+00 0.000E+00 -5.614E-03 0.000E+00 1.157E-02 -3.545E-02 5.204E-02 0.000E+00 0.000E+00 2.816E-02 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 4.076E-02 -5.013E+02 5.012E+02 0.000E+00 0.000E+00 -2.769E-02 0.000E+00 7.849E-06 -1.723E-05 2.877E-05 0.000E+00 0.000E+00 1.939E-05 0.000E+00 -1.362E-08 -2.375E-05 2.363E-05 0.000E+00 0.000E+00 -1.285E-07 0.000E+00 1.928E-05 -4.197E-05 7.031E-05 0.000E+00 0.000E+00 4.763E-05 0.000E+00 1.247E-02 -2.698E-02 4.531E-02 0.000E+00 0.000E+00 3.081E-02 0.000E+00 -4.344E-03 -3.353E-01 -2.144E-01 0.000E+00 0.000E+00 -5.540E-01 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 3.255E-07 5.735E-05 -5.500E-05 0.000E+00 0.000E+00 2.682E-06 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00 0.000E+00