{HEAD ~ A deviation} from {TAIL ~ the intermediate point} to a new intermediate point is determined such that the new intermediate point has a cumulative threat risk value lower than or equal to the allowable threat risk per grid cell 
{ HEAD ~ A deviation } from { TAIL ~ the intermediate point } to a new intermediate point is determined such that the new intermediate point has a cumulative threat risk value lower than or equal to the allowable threat risk per grid cell
HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH