 I will provide a perspective about where MOOS came from, why I designed it as I did, where I think its strengths lie and where I think there is room for improvement. I will describe of the range of platforms and projects MOOS has been, is and will be used on. I won't restrict attention to the marine domain - indeed some of the most challenging deployments have been on land in particular large scale infrastructure free navigation. As I conclude I'll look ahead to the planned next substantial release of MOOS and describe the new functionality therein. 