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Medium init [RModeH=false; RModeM=true; RModeL=false;] Low [RModeH=false; RModeM=false; RModeL=true;] TRANS FROM High TO Medium WITH rien0 [(eRD and not eRU) or cR] FROM Medium TO Low WITH rien0 [(eRD and not eRU) or cR] FROM Low TO Medium WITH rien0 [eRU and not eRD and aR] FROM Medium TO High WITH rien0 [eRU and not eRD and aR ,