Revised COLREGS behavior
  -> change in R14 separation distance
  -> use of refineries
  -> parameterizable in-extremis for stand-on

Obstacle avoidance
  -> new algorithm for evaluating maneuvers
  -> use of refineries
  -> variable speed

Obstacle Manager

New Trail behavior based on bread-crumbs

Updated uSimMarine to allow for faster simulation

New memory monitor MOOS app

Documentation for nsplug and guidance in general for launching

Behaviors publish their own parameters