Different scouting algorithm - was the previous one boustrophedonic?

From the pdf, it looks like the algorithm is to alternate east and west if either cliff or edge of map comes up - repeat
{
fly east. if cliff or edge of map, fly south instead.
then fly west. if cliff or edge of map, fly south instead.
}

as per the original algo (commented out), it keeps flying east for cliff and only flies west if its edge of map.

correct me if i'm wrong...