I used to use bipods for those "just in case" moments. But, just as KBBGOOD said, it was either too tall or too short. So then I bought another one. Same thing. Pretty soon I had a prone, sitting and standing sizes. It got to be too much gear.
So I downsized. I got rid of the bipod and went to a set of sitting/standing bipod sticks from Polecat, now part of Primos.
Recently I have switched over to the Nightstalker tripod with swivel ball head from Tom Austin over at Night Goggles. It is about as good as any one that I have ever seen and used. Yes, it means that I have to carry it, but it is by far the most versatile, comfy and stable that I have seen short of dragging a bench along with me.