MOOS-IvP has a number of provisions for confirming expected operation
during launch time, during mission operation, and during post-mission
analysis. Some of these provisions require app developers to add
the proper hooks to their code during development. We discuss all
these provisions and which ones require compliant code hooks during
development. A look a the full pipeline of debugging is discussed,
and best practices for investigation when symptoms of problems
are observed.

\vspace{0.1in}
\noindent
Component learning objectives addressed: 

\begin{packed_itemize}
\item Extending MOOS-IvP
\item MOOS App Development
\end{packed_itemize}