((H(((( not flight_mode) and (pre (flight_mode))) and ( not FTP)) => (pre (SI( (flight_mode and (FTP or (pre ( not flight_mode)))), ((OT(10,10,( ( (conflict_detected) and ( ( Y ( not (conflict_detected) ) ) or ( flight_mode and ( FTP or ( Y not flight_mode ) ) ) ) ) and ( not (( replanning_mode )) ) ))) => (OT(10-1,0,( ( flight_mode and ( FTP or ( Y not flight_mode ) ) ) or (( replanning_mode )) )))) ))))) and ((SI( (flight_mode and (FTP or (pre ( not flight_mode)))), ( not (( not flight_mode) and (pre (flight_mode)))) )) => (SI( (flight_mode and (FTP or (pre ( not flight_mode)))), ((OT(10,10,( ( (conflict_detected) and ( ( Y ( not (conflict_detected) ) ) or ( flight_mode and ( FTP or ( Y not flight_mode ) ) ) ) ) and ( not (( replanning_mode )) ) ))) => (OT(10-1,0,( ( flight_mode and ( FTP or ( Y not flight_mode ) ) ) or (( replanning_mode )) )))) ))))