function [state_eq, obser_eq, Nx, Ny, Nu, NparSys, Nparam, NparID, dt, Ndata, ...
                   t, Z, Uinp, param, parFlag, x0, iSD, SDyError, output_file] = mDefCase04d(test_case, target_log)

% Definition of model, flight data, initial values etc. 
% Lateral motion
% Nonlinear model in terms of dimensional derivatives as function of
% variables in the stability axes (V, alfa)   
%                  states  - beta, p, r, phi, psi
%                  outputs - beta, p, r, phi, psi, ay
%                  inputs  - da, dr
%
% 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 = 100, end;

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

%----------------------------------------------------------------------------------------
% Model definition
state_eq   = 'xdot_nlinear_lat';       % Function for state equations       
obser_eq   = 'obs_nlinear_lat';        % Function for observation equations
Nx         = 5;                          % Number of states 
Ny         = 6;                          % Number of observation variables
Nu         = 2;                          % Number of input (control) variables
NparSys    = 14;                         % 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)]);
disp('Lateral motion, nonlinear model -- Melco R/C: Nx=5, Ny=5, Nu=2')

%---------------------------------------------------------------------------------------
% 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)
BOFFSET = 0;  % ピトー管のオフセット

DA_PARAM = [15, 3051, -0.03306 * d2r];
DR_PARAM = [18, 3066, -0.03438 * d2r];

% Flags for free and fixed parameters
parFlag = [1; 1; 1; 1;...
           1; 1; 1; 1; 1;...
           1; 1; 1; 1; 1;...
           %0; 0; 0; 0; 0;]; 
           1; 1; 1; 1; 1;];

% Initial starting values for unknown parameters (aerodynamic derivatives) 
% Yb, Yp, Yr, Ydr, Lb, Lp, Lr, Lda, Ldr, Nb, Np, Nr, Nda, Ndr, f11, f22, f33, f44, f55                                                 
param = [ -3.00000D+01;  -1.00000D-02;  1.00000D-01;  5.00000D+00;...
          -1.00000D+02;  -3.00000D+01;  5.00000D+00;  8.00000D+01;  -4.00000D+01;...
          -4.00000D+00;  -4.00000D+00; -5.00000D-01;  7.00000D+00;  -3.00000D+01;...
           1.00000D-00;   1.00000D-02;  1.00000D-02;  1.00000D-03;   1.00000D-03];

% x0 : Initial conditions on state variables beta, p, r, phi, psi

if (target_log < 100),
  error('No Lateral LOG, 080806_watarase');
elseif (target_log < 200),
  files = { ...
      '272830.arc',   % 100
      '272917.dr',    % 101
      '272962.2.rs',  % 102
      '273050.arc',   % 103
      '281579.8.rdr', % 104
      '281735.6.arc', % 105
      '281769.9.rd',  % 106
      '281823.2.rs',  % 107
      '281840.7.rs',  % 108
      '281885.2.td',  % 109
      '281896.3.arc', % 110
      '281907.5.rd',  % 111
      '281924.5.rs'}; % 112
  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'];
  if target_log == 100,
    parFlag = [
           1; 1; 1; 0;...
           1; 1; 1; 1; 0;...
           1; 1; 1; 1; 0;...
           0; 0; 0; 0; 0;]; 
           %1; 1; 1; 1; 1;];
    U0 = 18;
    THETA0 = 0 * d2r;
    %x0 = [10 * d2r; 10 * d2r; 10 * d2r; 10 * d2r; 10 * d2r];
    DA_PARAM = [15, 2956, -0.03306 * d2r];
    DR_PARAM = [18, 2905, -0.03438 * d2r];
    %iSD = 1;
    SDyError = 1./[1E-2, 1E-3, 1E-3, 1E-4, 1E-4, 1E1]'.^0.5; % b, p, q, r, phi, psi, ay
  elseif target_log == 105,
    parFlag = [
           1; 1; 1; 0;...
           1; 1; 1; 1; 0;...
           1; 1; 1; 1; 0;...
           1; 1; 1; 1; 1;]; 
           %1; 1; 1; 1; 1;];
    U0 = 16;
    THETA0 = -6 * d2r;
    %x0 = [10 * d2r; 10 * d2r; 10 * d2r; 10 * d2r; 10 * d2r];
    DA_PARAM = [15, 2956, -0.03306 * d2r];
    DR_PARAM = [18, 2905, -0.03438 * d2r];
    %iSD = 1;
    SDyError = 1./[1E-2, 1E-3, 1E-3, 1E-4, 1E-4, 1E1]'.^0.5; % b, p, q, r, phi, psi, ay
  end
elseif (target_log < 250),
  files = {
      '280769.0.arc', % 200
      '280779.0.arc', % 201
      '280813.0.rep', % 202
      '280819.0.rep', % 203
      '280846.0.red', % 204
      '280912.0.s',   % 205
      '280957.0.rep', % 206
      '280961.0.rep'};% 207
  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'];
  if target_log == 200,
    U0 = 23.2;
    BOFFSET = 10 * d2r;
    THETA0 = 2 * d2r;
    param = [ -1.00000D+01;  -1.00000D-02;  1.00000D-01;  5.00000D+00;...
          -2.00000D+02;  -4.00000D+01;  5.00000D+01;  1.00000D+02;  -4.00000D+01;...
          -4.00000D+01;  -5.00000D+00; -1.00000D+00;  1.00000D+01;  -2.00000D+01;...
           1.00000D-02;   1.00000D-02;  1.00000D-02;  1.00000D-02;   1.00000D-02];
    parFlag = [
           1; 1; 1; 0;...
           1; 1; 1; 1; 0;...
           1; 1; 1; 1; 0;...
           0; 0; 0; 0; 0;];
    x0 = [1 * d2r; 1 * d2r; 1 * d2r; 1 * d2r; 1 * d2r];
    %iSD = 1;
    SDyError = 1./[1E-4, 1E-4, 1E-4, 1E-4, 1E-4, 1E-2]'.^0.5; % b, p, q, r, phi, psi, ay
  end
elseif (target_log < 300),
  files = {
      '293033.5.arc', % 250
      '293058.0.rep', % 251
      '293061.0.rep', % 252
      '293077.0.red', % 253
      '293094.2.rd',  % 254
      '293135.8.s',   % 255
      '293154.8.s',   % 256
      '293163.1.arc', % 257
      '293188.1.ad',  % 258
      '293190.6.rd',  % 259
      '293198.5.rd'}; % 260
  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]);

if (target_log < 200),
  disp('Longitudinal motion, nonlinear model -- MUAV: Nx=4, Ny=5, Nu=2')
elseif (target_log < 300),
  disp('Longitudinal motion, nonlinear model -- Orca: Nx=4, Ny=5, Nu=2')
end

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 beta, p, r, phi, psi, ay
Z = [data(:,14)-BOFFSET,data(:,34),data(:,36),data(:,10),data(:,8),data(:,32)];

% Input variables da, dr
Uinp = [ ...
    (data(:,DA_PARAM(1)) - DA_PARAM(2)) * DA_PARAM(3), ...
    (data(:,DR_PARAM(1)) - DR_PARAM(2)) * DR_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)); mean(Z(1:10,2)); mean(Z(1:10,3)); mean(Z(1:10,4)); mean(Z(1:10,5))];
end

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