33 16. Mission definition – the commander defines the following: mission,17 resources, and authority. 17. Unified C&C procedures within the IDF – battle plan procedures and execution, shall be conducted in a unified manner throughout the IDF and shall be based on the basic IDF doctrine in a coherent and simple common language. 18. Generating optimal conditions – each commander is responsible to generate the optimal conditions to realize the mission for his subordinates via: planning and using optimal force, allocating resources and reducing constraints. Within this framework, each commander's area of responsibility (rear and depth) must be limited, to allow them to focus their efforts on carrying out their missions. 19. Making decisions during combat – each commander has the option and duty to make decisions that differ from the original plan. 20. Commander vs. HQ dialogue – It is important to maintain a regular process of dialogue between commanders and HQs, intended to develop shared knowledge, conduct discussions, war games, and exercises, all of these to establish common understandings which will serve as the basis for operations. The dialogue shall be conducted in accordance with the principle of: Information Transparency along with Command Hierarchy. 17 Within the framework of the mission, operational constraints shall be defined, including time and boundaries.