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The SPHERES simulation is designed to support most software-related aspects of single- and multi-satellite SPHERES operations. The simulation code base consists of simulated versions of most of the SPHERES core flight code and additional code that simulates dynamics, communications, and other environmental interaction. The simulation is particularly valuable during the early stages of algorithm development and implementation as an aid in accelerating the learning curve for any Guest Scientist for SPHERES. Algorithms may be implemented in C or Embedded MATLAB and executed in the MATLAB simulation environment to verify general desired behavior. ...