Which troop leading step allows subordinate leaders and marines to begin preparations while the leader conducts a detailed analysis called the estimate of the situation?

Begin planning is the troop leading step that allows subordinate leaders and marines to begin preparations while the leader conducts a detailed analysis called the estimate of the situation.

 Begin planning is the first step in receiving the mission. It started the entire BAMCIS cycle. To maximize the available time, the leader gives his subordinates a Warning Order. The leader conducts a detailed estimate of the situation while his subordinates perform the Warning Order.

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