As another Scouter, I use the following guiding principles:
1. My tarp is my private tent, and all adults' tents have separation from Scouts' tents. Scouts stay away unless there is a specific reason that requires otherwise. In most situations there is no reason for Scouts to be anywhere near it, especially at times when I might be changing.
2. Camporee type situations where that separation is less usually happen in fall or early spring, and involve my Turtlelady stand that results in a low-pitched tarp. I often have the ends closed down as doors for wind-blocking purposes anyway.
3. I sleep in clean fresh underwear that I change in my hammock as I go to bed. It's always dark when that happens.
4. I don't really care who sees me in my underwear. It's really no different than swimming shorts. I'm not about to go running around the field in my underwear in front of Scouts, but as a lifeguard I have no qualms about stripping down to my boxers to go and rescue someone in front of them. Perspective.
5. 2-deep leadership. This protects me in the unlikely event that some Scout wandered over to my 'tent' alone when he shouldn't. There will be another adult nearby who will hear when I yell at that Scout to get out.
6. Buddy system. This protects me because if there is a legitimate need for a Scout to be in my area, he should never be alone. It's also pretty difficult for two or more Scouts to sneak up on you unexpectedly. They're just too loud.
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