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Voyager 1
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this post was submitted on 06 May 2024
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100% they've got an emulator, they've had dedicated test environments since the moon landing for emulating disaster recovery scenarios since the moon landings, they've likely got at least one functioning hardware replica and very likely can spin up a hardware emulation as a virtual machine at will.
Source: I made this up, but I have a good understanding of systems admin and have a interest in space stuff so I'm pretty confident they would have this stuff at bare minimum
That's my assumption too, but we're talking about a different era, and I really have no idea how they approached validation and test/troubleshooting.
I've seen some test environments for manned missions, but that's really for humans to validate what they're doing.
V'ger was quick 'n dirty by comparison (with no criticism of the process or folks involved...they had one chance to get these missions out there).