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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. Section \ref{sec_flags}. \\

  \bvar{condition}: &amp; Specifies a condition that must
  be met for the behavior to be running. Section \ref{sec_runconditions}. \\

  \bvar{duration}: &amp; Time in behavior will remain running before
  declaring completion. Section \ref{sec_duration}. \\

  \bvar{duration\_idle\_decay}: &amp; When true, duration clock is
  running even when in the {\em idle} state. Section
  \ref{sec_duration}. \\

  \bvar{duration\_reset}: &amp; A variable-pair such as
  \psvar{MY\_RESET=true}, that will trigger a duration reset. See
  Section \ref{sec_duration}. \\

  \bvar{duration\_status}: &amp; The name of a MOOS variable to which the
  vehicle duration status is published. Section \ref{sec_duration}. \\

  \bvar{endflag}: &amp; A MOOS variable-value pair posted when the
  behavior has completed.  Section \ref{sec_flags}. \\

  \bvar{idleflag}: &amp; A MOOS variable-value pair posted when the
  behavior is in the {\em idle} state.  Section \ref{sec_flags}.  \\

  \bvar{inactiveflag}: &amp; A MOOS variable-value posted when the
  behavior is {\em not} in the {\em active} state.  Section
  \ref{sec_flags}. \\

  \bvar{name}: &amp; The (unique) name of the
  behavior. Section \ref{sec_bhv_name}. \\

  \bvar{nostarve}: &amp; Allows a behavior to assert a maximum staleness
  for a MOOS variable Section \ref{sec_stalevars}. \\

  \bvar{perpetual}: &amp; If true allows the behavior to to run even after
  it has completed. Section \ref{sec_perpetual}. \\

  \bvar{post\_mapping}: &amp; Re-direct behavior output normally to one
  MOOS variable to another instead.  Section \ref{sec_bhv_postmap}. \\

  \bvar{priority}: &amp; The priority weight of the
  behavior. Section \ref{sec_bhv_priority}. \\

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

  \bvar{runflag}: &amp; A MOOS variable and a value posted when a behavior
  has met its conditions. Section \ref{sec_flags}. \\

  \bvar{spawnflag}: &amp; A MOOS variable and a value posted when a behavior
  is spawned. Section \ref{sec_flags}. \\

  \bvar{templating}: &amp; Turns a behavior into a template for spawning
  behaviors dynamically. Section \ref{sec_bhv_templates}. \\

  \bvar{updates}: &amp; A MOOS variable from which behavior
  parameter updates are read dynamically.  Section \ref{sec_updates}. \\

\end{longtable}
\end{listing}

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