bhv2graphviz writes a GraphViz "dot" file from the hierarchical mode declaration of a MOOS-IvP behavior (.bhv) file. From the dot file, you can generate a graphical view of the mode structure. To use, install graphviz On Ubuntu: "sudo apt-get install graphviz" On OS X: "sudo port install graphviz" Run these commands (for example to generate a pdf output): bhv2graphviz /path/to/vehicle.bhv vehicle.dot dot -Tpdf vehicle.dot > vehicle-bhv-modes.pdf