repeating steps – until each grid cell intersected by {HEAD ~ the modified flight path} has a cumulative threat risk value below {TAIL ~ the allowable threat risk} per grid cell, or until another stopping condition is met 
repeating steps – until each grid cell intersected by { HEAD ~ the modified flight path } has a cumulative threat risk value below { TAIL ~ the allowable threat risk } per grid cell , or until another stopping condition is met
OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH