I found a link that has some info on the BVH format, and I'll place the URL at the end of this message. This particular document describes how 3DS Max handles BVH files, but all the relevant info is in there. It's not a very complex format (and it's not XML btw).
I'm assuming that the binary version was something cooked up by LL, and probably just removes all of the textual information in favor of expecting joint rotation and offset data to be there in a predetermined order, followed by the frame data. Anyhoo, here's the link: http://sites.google.com/a/cgspeed.com/cgspeed/motion-capture/3dsmax-friendly-release-of-cmu-motion-database/3dsmax-bvh-import-specification
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