Probably the reason the crew of Moya got into this mess to begin with, Tauvo's Prowler collided with Farscape 1 when Crichton arrived through the wormhole. Tauvo's Prowler span off into an asteroid, where it exploded, killing Tauvo.
And you thought Cobrin didn't last long.
In any case, a bit of Tauvo's past is revealed in Episode 1.08 - That Old Black Magic. Living in a rural community with their father, Bialar and Tauvo Crais were recruited into the Peacekeepers at an early age. Their father charged Bialar with the responsibility of looking after Tauvo.
As Bailar rose through the ranks to captain, Tauvo was happy to stay as a Prowler pilot, and Bialar's method of making sure Tauvo was safe came about when he assigned Tauvo to his Command Carrier. That is, until Tauvo was struck down by a weak, inferior being.