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For highly maneuvering target interception in terminal guidance, the maximal admissible mode decision delay (MAMDD) and the least required mode sojourn time (LRMST) are calculated in continuous-time controlled system. The lateral acceleration command of the evader is modeled as a jump-Markov process. Suppose that the mode switches are observable and the evader’s motion mode is correctly identified by a separate mode decision-maker with a fixed time delay, then the error model of the state estimation is derived. By limiting the state estimation error to a certain range, MAMDD and LRMST are calculated. The derivation is validated by a typical instance of tactical ballistic missile interception. The results in this paper provide a useful tool for guiding the design of the mode decision-maker and evaluating the performance of the logic-based integrated estimation and guidance system.