A system comprising: a computer readable medium having non-transitory computer readable program code embodied therein for risk-aware contingency flight re-planning, the computer readable program code comprising instructions which, when executed by a computer device or processor, perform and direct the steps of: receiving a preplanned route prior to a departure of a vehicle, wherein the preplanned route is configured for a 3-D routing of the vehicle; receiving a risk tolerance level from a decision maker; receiving input from a threat database, a terrain database, an obstacle database, a threat lethality database, a fuel evaluator, a terrain masking evaluator, a time evaluator, and a vehicle performance database; receiving an indication of an en route risk to the vehicle, wherein the en route risk comprises a risk type and is associated with one or more threat zones; determining a plurality of 4-D paths for the vehicle to traverse, wherein each 4-D path is comprised of a plurality of 4-D states, and wherein each 4-D state selected for the 4-D path configured based on the risk tolerance level and the received input, wherein the plurality of 4-D paths are alternate routes relative to the preplanned route; determining an association of at least one of a path cost, a time cost, a threat level, an arc cost, and an extra traversal cost with each of the plurality of 4-D paths; determining an association of an exposure cost with each of the plurality of 4-D paths, wherein the exposure cost is based on a variation of the threat level as a function of exposure time, wherein the exposure time is based on an amount of time the vehicle is located within the one or more threat zones; ranking the plurality of 4-D paths, wherein the ranking is based on the risk tolerance level, the risk type, the association of the exposure cost, and the association of at least one of the path cost, the time cost, the threat level, the arc cost, and the extra traversal cost; displaying a portion of the plurality of 4-D paths to the decision maker, wherein the portion is determined by the ranking of the plurality of 4-D paths; receiving a path selection from the decision maker, wherein the path selection comprises designating and activating a selected 4-D path from the portion; and displaying the activated 4-D path to an operator of the vehicle. receiving a preplanned route prior to a departure of a vehicle, wherein the preplanned route is configured for a 3-D routing of the vehicle; receiving a risk tolerance level from a decision maker; receiving input from a threat database, a terrain database, an obstacle database, a threat lethality database, a fuel evaluator, a terrain masking evaluator, a time evaluator, and a vehicle performance database; receiving an indication of an en route risk to the vehicle, wherein the en route risk comprises a risk type and is associated with one or more threat zones; determining a plurality of 4-D paths for the vehicle to traverse, wherein each 4-D path is comprised of a plurality of 4-D states, and wherein each 4-D state selected for the 4-D path configured based on the risk tolerance level and the received input, wherein the plurality of 4-D paths are alternate routes relative to the preplanned route; determining an association of at least one of a path cost, a time cost, a threat level, an arc cost, and an extra traversal cost with each of the plurality of 4-D paths; determining an association of an exposure cost with each of the plurality of 4-D paths, wherein the exposure cost is based on a variation of the threat level as a function of exposure time, wherein the exposure time is based on an amount of time the vehicle is located within the one or more threat zones; ranking the plurality of 4-D paths, wherein the ranking is based on the risk tolerance level, the risk type, the association of the exposure cost, and the association of at least one of the path cost, the time cost, the threat level, the arc cost, and the extra traversal cost; displaying a portion of the plurality of 4-D paths to the decision maker, wherein the portion is determined by the ranking of the plurality of 4-D paths; receiving a path selection from the decision maker, wherein the path selection comprises designating and activating a selected 4-D path from the portion; and displaying the activated 4-D path to an operator of the vehicle.