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\section*{IvP Helm Behaviors in General}

A behavior of the IvP helm is one of perhaps several behaviors active
in any given moment, competing for influence over the requested
trajectory of the vehicle. The \bhv{} behavior is one such behavior.
All behaviors share a common structure, exploited by the helm, that
balances a design goal of being uniform enough to be plug-and-play,
against the design goal of enabling the unique nature of any
particular behavior. Each behavior, it can be argued, is a mini expert
system.

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A behavior produces two kinds of output, an objective function, and one or
more postings. This document describes the unique elements of the \bhv{} behavior
in terms of (1) how the objective function is created and from what information, (2)
posting events that are unique to the \bhv{} behavior, and (3) posting
macros that are unique to the \bhv{} behavior. The full set of configuration
parameters unique to the \bhv{} behavior are also discussed.

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