function [state_eq, obser_eq, Nx, Ny, Nu, NparSys, Nparam, NparID, dt, Ndata, ...
                   t, Z, Uinp, param, parFlag, x0, iSD, SDyError, output_file] = mDefCase04c(test_case, target_log)

% Definition of model, flight data, initial values etc. 
% test_case = 304 -- Longitudinal motion: UAVs
% Nonlinear model in terms of dimensional derivatives as function of
% variables in the stability axes (u, alfa):   
%                  states  - u, alpha, theta, q
%                  outputs - u, alpha, theta, q, qdot, ax, az
%                  inputs  - de, thrust  
%
% Inputs
%    test_case    test case number
%
% Outputs
%    state_eq     function to code right hand sides of state equations       
%    obser_eq     function to code right hand sides of observation equations
%    Nx           number of states 
%    Ny           number of observation variables
%    Nu           number of input (control) variables
%    NparSys      number of system parameters
%    Nparam       total number of system and bias parameters
%    NparID       total number of parameters to be estimated (free parameters)
%    dt           sampling time
%    Ndata        total number of data points for Nzi time segments
%    t            time vector
%    Z            observation variables: Data array of measured outputs (Ndata,Ny)
%    Uinp         input variables: Data array of measured input (Ndata,Nu)
%    param        initial starting values for unknown parameters (aerodynamic derivatives) 
%    parFlag      flags for free and fixed parameters
%    x0           initial conditions on state variables
%    iSD          Flag to specify optionally initial R (default; 0) 
%    SDyError     standard-deviations of output errors to compute initial covariance
%                 matrix R (required only for iSD ~= 0)

if (nargin < 1), target_log = 0, end;

% Constants
d2r   = pi/180;
r2d   = 180/pi;

%----------------------------------------------------------------------------------------
% Model definition
state_eq   = 'xdot_TC04b_hfb_lon';       % Function for state equations       
obser_eq   = 'obs_TC04c_hfb_lon';        % Function for observation equations
Nx         = 4;                          % Number of states 
Ny         = 6;                          % Number of observation variables
Nu         = 1;                          % Number of input (control) variables
NparSys    = 10;                         % Number of system parameters
Nparam     = NparSys + Nx;               % Total number of parameters to be estimated
dt         = 0.02;                       % Sampling time
iSD        = 0;                          % Initial R option (default; 0) 

disp(['Test Case = ', num2str(test_case)]);

%----------------------------------------------------------------------------------------
% Load flight data for Nzi time segments to be analyzed and concatenate 

log_file = '';
output_file = sprintf('../CVS_IGNORE/FEM_out_%d_%d.csv', test_case, target_log);

U0 = 20;      % トリム状態における対気速度[m/s]
W0 = 0;       % トリム状態における下方向速度[m/s]
THETA0 = 0;   % トリム状態におけるピッチ角(安定軸)
AOFFSET = 0;  % ピトー管のオフセット

DE_PARAM = [16; 2910; 0.00025]; % インデックス、オフセット、SF

% Flags for free and fixed parameters
parFlag = [1; 1; ...
           1; 1; 1; 1; ...
           1; 1; 1; 1; ...
           1; 1; 1; 1];

% Initial starting values for unknown parameters (aerodynamic derivatives) 
% Xu, Xa, Zu, Za, Zq, Zde, Mu, Ma, Mq, Mde, f11, f22, f33, f44
%param = [....];

% Initial conditions on state variables u, alpha, theta, q
%x0 = [....];

if (target_log < 100),
  disp('Longitudinal motion, nonlinear model -- Exective Jet R/C without dt: Nx=4, Ny=6, Nu=1')
  DE_PARAM = [17; 2910; 0.00025]; 
  files = { ...
      '../276815', % 0
      '../276887', % 1
      '../../091228_si/CVS_IGNORE/080806_watarase/276815.0.e3', % 2 
      '../../091228_si/CVS_IGNORE/080806_watarase/276887.0.e3'};% 3
  log_file = [char(files(target_log + 1)), '.csv'];
  output_file = [char(files(target_log + 1)), '.fem.csv'];
  param = [-3.00000D+00; 2.00000D+00; ...
         -1.00000D+00; -1.00000D+02; -3.00000D+00; -9.00000D+00; ...
          0.00000D-00; -4.00000D+01; -8.00000D+00; -1.00000D+02; ...
          1.00000D-00;  1.00000D-01;  1.00000D-02;  1.00000D-02];
  U0 = 17.0;
  x0 = [3; 1*d2r; 1*d2r; 0*d2r];
  iSD = 1;
  SDyError = 1./[1E0, 1E-3, 1E-4, 1E-4, 1E1, 1E0]'.^0.5; % V, alpha, theta, q, ax, az
  
elseif (target_log < 200),
  disp('Longitudinal motion, nonlinear model -- MUAV without dt: Nx=4, Ny=6, Nu=1')
  DE_PARAM = [16; 3334; -0.0134 * d2r]; 
  files = {
      '272738.96.e3'; % 100
      '272974.95.e3'; % 101
      '272752.ep';    % 102
      '272777.8.ep';  % 103
      '281508.95.e3'; % 104
      '281680.95.e3'; % 105
      '281699.5.ep';  % 106
      '281872.6.ep',  % 107
      '272752.ep.ppmra'}; % 108
  dirname = '../../091228_si/CVS_IGNORE/081105_katsuma/';
  log_file = [dirname, char(files(target_log - 99)), '.csv'];
  output_file = [dirname, char(files(target_log - 99)), '.fem.csv'];
  param = [-3.00000D+00; 2.00000D+00; ...
         -1.00000D+00; -1.00000D+02; -3.00000D+00; -9.00000D+00; ...
          0.00000D-00; -4.00000D+01; -8.00000D+00; -1.00000D+02; ...
          1.00000D-00;  1.00000D-01;  1.00000D-02;  1.00000D-01];
  AOFFSET = -4 * d2r;      
  if target_log == 105,
    parFlag = [1; 1; ...
           1; 1; 1; 1; ...
           1; 1; 1; 1; ...
           1; 1; 1; 0];
    U0 = 16.0;
    THETA0 = 0 * d2r;
    %x0 = [2; 1*d2r; 1*d2r; 1*d2r];
    iSD = 1;
    SDyError = 1./[1E0, 1E-3, 1E-2, 1E-2, 1E-1, 1E-0]'.^0.5; % V, alpha, theta, q, ax, az
  elseif target_log == 102,
    parFlag = [1; 1; ...
           1; 1; 1; 1; ...
           1; 1; 1; 1; ...
           1; 1; 1; 1];
    param = [-3.00000D+00; 2.00000D+00; ...
         -1.00000D+00; -1.00000D+02; -3.00000D+00; -9.00000D+00; ...
          0.00000D-00; -4.00000D+01; -8.00000D+00; -1.00000D+02; ...
          1.00000D-00;  1.00000D-01;  1.00000D-02;  1.00000D-01];
    U0 = 17.0;
    THETA0 = 15 * d2r;
    x0 = [2; 1*d2r; 1*d2r; 1*d2r];
    %iSD = 1;
    SDyError = 1./[1E0, 1E-3, 1E-2, 1E-1, 1E0, 1E0]'.^0.5; % V, alpha, theta, q, ax, az
  elseif target_log == 108,
    parFlag = [1; 1; ...
           1; 1; 1; 1; ...
           1; 1; 1; 1; ...
           1; 1; 1; 0];
    param = [-3.00000D+00; 2.00000D+00; ...
         -1.00000D+00; -1.00000D+02; -3.00000D+00; -9.00000D+00; ...
          0.00000D-00; -4.00000D+01; -8.00000D+00; -1.00000D+02; ...
          1.00000D-00;  1.00000D-01;  1.00000D-02;  4.00000D-01];
    U0 = 17.0;
    AOFFSET = 0;
    THETA0 = 5 * d2r;
    %x0 = [1; 1*d2r; 1*d2r; 1*d2r];
    %iSD = 1;
    SDyError = 1./[1E-0, 1E-1, 1E-2, 1E-3, 1E-0, 1E-0]'.^0.5; % V, alpha, theta, q, ax, az
  else
    U0 = 17.0;
	  THETA0 = 15 * d2r;
	  x0 = [3; 1*d2r; 1*d2r; 1*d2r];
	  %iSD = 1;
	  %SDyError = 1./[1E0, 1E-3, 1E-2, 1E-4, 1E0, 1E0]'.^0.5; % V, alpha, theta, q, ax, az
  end
elseif (target_log < 250),
  disp('Longitudinal motion, nonlinear model -- Orca without dt: Nx=4, Ny=6, Nu=1')
  DE_PARAM = [16; 2973; -0.03528 * d2r];
  files = {
      '269086.0.e3',  % 200
      '269095.0.e3',  % 201
      '269138.0.ep',  % 202
      '269149.0.erc', % 203
      '269161.0.erc', % 204
      '269180.0.td',  % 205
      '269206.0.e3',  % 206
      '269209.5.e3',  % 207
      '269230.0.ep',  % 208
      '269237.0.ep',  % 209
      '269262.5.erc'};% 210
  dirname = '../../091228_si/CVS_IGNORE/090623_taiki/';
  log_file = [dirname, char(files(target_log - 199)), '.csv'];
  output_file = [dirname, char(files(target_log - 199)), '.fem.csv'];
  param = [-3.00000D+00; 2.00000D+00; ...
         -1.00000D+00; -1.00000D+02; -3.00000D+00; -9.00000D+00; ...
          0.00000D-00; -4.00000D+01; -8.00000D+00; -1.00000D+02; ...
          1.00000D+00;  1.00000D-02;  1.00000D-02;  1.00000D-01];
  U0 = 22.0;
  
elseif (target_log < 300),
  disp('Longitudinal motion, nonlinear model -- Orca without dt: Nx=4, Ny=6, Nu=1')
  %DE_PARAM = [16; 2910; 0.00025];
  files = {
      '266802.8.e3',  % 250
      '266828.8.e3',  % 251
      '270377.5.e3',  % 252
      '270401.4.ep',  % 253
      '270445.7.erc', % 254
      '371066.2.e3',  % 255
      '371192.5.erc'};% 256
  dirname = '../../091228_si/CVS_IGNORE/091012_taiki/';
  log_file = [dirname, char(files(target_log - 249)), '.csv'];
  output_file = [dirname, char(files(target_log - 249)), '.fem.csv'];
  
end
disp(['Log NO. = ', num2str(target_log), '; file => ', log_file]);

data = load(log_file);

% Number of data points
Ndata = size(data,1);
izhf  = Ndata;

% Generate new time axis
t = [0:dt:Ndata*dt-dt]';

% Observation variables V, alpha, theta, q, qdot, ax, az
Z = [data(:,12),data(:,13)-AOFFSET,data(:,9),data(:,35),data(:,31),data(:,33)];

% Input variables de
Uinp = [(data(:,DE_PARAM(1)) - DE_PARAM(2)) * DE_PARAM(3)];

% トリム状態における対気速度[m/s], 下方向速度[m/s], ピッチ角(安定軸), ピトー管オフセット
global stables;
stables = [U0, W0, THETA0];
       
% Total number of free parameters
NparID = size(find(parFlag~=0),1); 

% Initial conditions on state variables beta, p, r, phi, psi
if ~exist('x0'),
  x0 = [mean(Z(1:10,1)) - stables(1); mean(Z(1:10,2)); mean(Z(1:10,3)); mean(Z(1:10,4))];
end

if ~exist('SDyError'),
  SDyError = [];
end