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\begin{listing}{Configuration Parameters Common to All Behaviors}
%\label{lst_bhv_params}
\renewcommand{\arraystretch}{1.1}
\begin{longtable}{rp{0.75\textwidth}} 

  \wikitablehint{style=graytopall}

  \bvar{activeflag}: &amp; A MOOS variable-value pair posted when the
  behavior is in the {\em active}
  state. \href{https://oceanai.mit.edu/ivpman/links/bhv_param_activeflag}{[more]}. \\

  \bvar{condition}: &amp; Specifies a condition that must be met for the
  behavior to be running.
  \href{https://oceanai.mit.edu/ivpman/links/bhv_param_condition}{[more]}. \\

  \bvar{duration}: &amp; Time in behavior will remain running before
  declaring completion.
  \href{https://oceanai.mit.edu/ivpman/links/bhv_param_duration}{[more]}. \\

  \bvar{duration\_idle\_decay}: &amp; When true, duration clock is running
  even when in the {\em idle}
  state. \href{https://oceanai.mit.edu/ivpman/links/bhv_param_duration}{[more]}. \\

  \bvar{duration\_reset}: &amp; A variable-pair such
  as \psvar{MY\_RESET=true}, that will trigger a duration
  reset. \href{https://oceanai.mit.edu/ivpman/links/bhv_param_duration}{[more]}. \\

  \bvar{duration\_status}: &amp; The name of a MOOS variable to which the
  vehicle duration status is published.
  \href{https://oceanai.mit.edu/ivpman/links/bhv_param_duration}{[more]}. \\

  \bvar{endflag}: &amp; A MOOS variable-value pair posted when the
  behavior has
  completed.  \href{https://oceanai.mit.edu/ivpman/links/bhv_param_endflag}{[more]}. \\

  \bvar{idleflag}: &amp; A MOOS variable-value pair posted when the
  behavior is in the {\em idle}
  state.  \href{https://oceanai.mit.edu/ivpman/links/bhv_param_idleflag}{[more]}. \\

  \bvar{inactiveflag}: &amp; A MOOS variable-value posted when the
  behavior is {\em not} in the {\em active}
  state.  \href{https://oceanai.mit.edu/ivpman/links/bhv_param_inactiveflag}{[more]}. \\

  \bvar{name}: &amp; The (unique) name of the
  behavior. \href{https://oceanai.mit.edu/ivpman/links/bhv_param_name}{[more]}. \\

  \bvar{nostarve}: &amp; Allows a behavior to assert a maximum staleness
  for a MOOS
  variable. \href{https://oceanai.mit.edu/ivpman/links/bhv_param_nostarve}{[more]}. \\

  \bvar{perpetual}: &amp; If true allows the behavior to to run even after
  it has
  completed. \href{https://oceanai.mit.edu/ivpman/links/bhv_param_perpetual}{[more]}. \\

  \bvar{post\_mapping}: &amp; Re-direct behavior output normally to one
  MOOS variable to another instead.
  \href{https://oceanai.mit.edu/ivpman/links/bhv_param_post_mapping}{[more]}. \\

  \bvar{priority}: &amp; The priority weight of the behavior.
  \href{https://oceanai.mit.edu/ivpman/links/bhv_param_priority}{[more]}. \\

  \bvar{pwt}: &amp; Same as \bvar{priority}. \\

  \bvar{runflag}: &amp; A MOOS variable and a value posted when a behavior
  has met its
  conditions. \href{https://oceanai.mit.edu/ivpman/links/bhv_param_runflag}{[more]}. \\

  \bvar{spawnflag}: &amp; A MOOS variable and a value posted when a
  behavior is spawned.
  \href{https://oceanai.mit.edu/ivpman/links/bhv_param_spawnflag}{[more]}. \\

  \bvar{spawnxflag}: &amp; A MOOS variable and a value posted when a behavior
  is spawned. \href{https://oceanai.mit.edu/ivpman/links/bhv_param_spawnx_flag}{[more]}. \\

  \bvar{templating}: &amp; Turns a behavior into a template for spawning
  behaviors
  dynamically. \href{https://oceanai.mit.edu/ivpman/links/bhv_param_templating}{[more]}. \\

  \bvar{updates}: &amp; A MOOS variable from which behavior parameter
  updates are read dynamically.
  \href{https://oceanai.mit.edu/ivpman/links/bhv_param_updates}{[more]}. \\

\end{longtable}
\end{listing}

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