{HEAD ~ A deviation} from the intermediate point to {TAIL ~ 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 the intermediate point to { TAIL ~ 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 OTH OTH OTH OTH REL TAIL 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