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

  \wikitablehint{style=graytopall}

  {\bf Parameter} &amp; {\bf Description} \\  

  \bvar{bearing\_lines} &amp; If true, a visual artifict will be produced
  for rendering the bearing line between ownship and the contact when
  the behavior is running. Not all behaviors implement this feature. \\

  \bvar{contact} &amp; Name or unique identifier of a contact to be 
  avoided.\\ 

  \bvar{decay} &amp; Time interval during which extrapolated position
  slows to a halt. \\ 

  \bvar{exit\_on\_filter\_group} &amp; If true, and if an exclusion filter
  is implemented for this contact behavior, an early exit of the
  behavior may be allowed when or if the group name changes and no
  longer satisfies the exclusion filter. The default is false. \\

  \bvar{exit\_on\_filter\_vtype} &amp; If true, and if an exclusion filter
  is implemented for this contact behavior, an early exit of the
  behavior may be allowed when or if the vehicle type changes and no
  longer satisfies the exclusion filter. The default is false. \\

  \bvar{exit\_on\_filter\_region} &amp; It true, and if an exclusion
  filter is implemented for this contact behavior, an early exit of
  the behavior may be allowed when or if the contact moves into a
  region that would no longer satisfy the exclusion filter. The
  default it false. \\

  \bvar{extrapolate} &amp; If true, contact position is extrapolated from
  last position and trajectory. \\

  \bvar{ignore\_group}: &amp; If specified, the contact group may not
  match the given ignore group. If multiple ignore groups are
  specified, the contact group must be different than all ignore
  groups. Introduced after Release
  19.8.1. Section \ref{sec_cbhv_filters} \\

  \bvar{ignore\_name}: &amp; If specified, the contact name may not match
  the given ignore name. If multiple ignore names are specified, the
  contact name must be different than all ignore names. Introduced
  after Release 19.8.1. Section \ref{sec_cbhv_filters} \\

  \bvar{ignore\_region}: &amp; If specified, the contact group may be in
  the given ignore region. If multiple ignore regions are specified,
  the contact position must be external to all ignore
  regions. Introduced after Release
  19.8.1. Section \ref{sec_cbhv_filters} \\

  \bvar{ignore\_type}: &amp; If specified, the contact type may not match
  the given ignore type. If multiple ignore types are specified, the
  contact type must be different than all ignore types. Introduced
  after Release 19.8.1. Section \ref{sec_cbhv_filters} \\


  \bvar{match\_group}: &amp; If specified, the contact group must match
  the given match group. If multiple match groups are specified, the
  contact group must match at least one match group. Introduced after
  Release 19.8.1. Section \ref{sec_cbhv_filters} \\

  \bvar{match\_name}: &amp; If specified, the contact name must match the
  given match name. If multiple match names are specified, the contact
  name must match at least one. Introduced after Release
  19.8.1. Section \ref{sec_cbhv_filters} \\

  \bvar{match\_region}: &amp; If specified, the contact must reside in the
  given convex region. If multiple match regions are specified, the
  contact position must be in at least one match region. The multiple
  regions essentially can together support a non-convex
  regins. Introduced after Release
  19.8.1. Section \ref{sec_cbhv_filters} \\

  \bvar{match\_type}: &amp; If specified, the contact type must match the
  given match type. If multiple match types are specified, the contact
  type must match at least one match type. Introduced after Release
  19.8.1. Section \ref{sec_cbhv_filters} \\

  \bvar{on\_no\_contact\_ok} &amp; If false, a helm error is posted if
  no contact information exists. Applicable in the more rare
  case that a contact behavior is statically configured for a named
  contact. The default is true. \\ 
  
  \bvar{strict\_ignore} &amp; If true, and if one of the ignore exclusion
  filter components is enabled, then an exclusion filter will fail
  if the contact report is missing information related to the filter.
  For example if the contact group information is unknown. The default
  is true. \\
 
  \bvar{time\_on\_leg} &amp; The time on leg, in seconds, used for 
  calculating closest point of approach. 
 
\end{longtable}
\end{listing}

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