Heavy-light meson system is investigated using the relativistic heavy quark action on the 2+1 dynamical flavor PACS-CS configurations at the lattice spacing $a^{-1}=2.2$ GeV and the spatial extent L=3 fm. Dynamical up-down and strange quark masses as well as the valence charm quark mass are set around their physical values. We measure the charm-$ud$ and charm-strange meson masses and decay constants. Our results are consistent with the experimental values except the hyperfine splitting of the charm-strange meson. We also estimate the CKM matrix elements in the second row.
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