Raid 5 to Raid 10

Nope. You will need to offload your data and start from scratch.
 
it depends on your RAID controller. RAID level migration is the feature that you're talking about. Intel Matrix RAID controllers can make this kind of migration (on desktop chipsets). Most stand alone RAID controllers can also migrate from one level of RAID to another. SAN RAID controllers probably couldn't get sold if they didn't do stuff like that as a standard feature set. It kind of depends on what kind of product line you're talking about doing this on.
 
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