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The Jet Propulsion Laboratory (JPL) is developing a high-fidelity spacecraft simulator for entry, descent and landing (EDL) on planetary and small-bodies. This simulator, DSENDS (Dynamics Simulator for Entry, Descent and Surface landing), is an EDL-specific extension of a JPL multi-mission simulation toolkit (Darts/Dshell) which is capable of modeling spacecraft dynamics, devices, and subsystems, and is in use by interplanetary and science-craft missions such as Cassini, Galileo, SIM, and Starlight. DSENDS is currently in use by the JPL Smart Lander project to provide a high-fidelity testbed for the test of precision landing and hazard avoidance functions for future Mars missions. We first briefly describe the core tool capabilities in dynamics, instrument/actuator device models, and real-time simulation engineering. These allow the modeling of the flight-train elements during various phases of EDL and all of the spacecraft responses. We then address the various EDL-specific aspects of the simulator. These include the high-fidelity entry-body and parachute aerodynamic models and supporting atmospheric models.