Complex sentence: In 1979, Malaysia published a map, unilaterally defining its territorial waters and continental shelf and includes the territorial sea border between Malaysia and Singapore, "picking up" from where the 1927 agreement left off.
Split into simpler sentences: In 1979, Malaysia published a map, unilaterally defining its territorial waters and continental shelf. The 1979 map included the border between Malaysia and Singapore and "picks up" the border where the 1927 agreement left off.