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Acknowledgements This work was originally made possible by a Small Business Innovative Research (SBIR) grant (2005-2007) by the United States National Science Foundation. We would like to thank Rolf Jensen and Associates for their assistance with testing and other suggestions that helped guide the development of the simulator. We would also like to thank the users whose feedback helps us improve the software and incorporate more useful features. The Pathfinder support forum can be found at www.thunderheadeng.com/pathfinder. ii