And for those whose searching skills may not be up to par:

The in-circuit emulator (ICE) remains the most powerful debugging tool available. Nothing else approaches an ICEís wide range of troubleshooting resources; no other tool so completely addresses problems stemming from hardware/software interaction. The emulatorís birth was almost coincident with the start of the microprocessor age, since micros live deeply buried in applications that simply donít resemble computers.