MINERVA (Mirrored Implementation Numerically Evaluated against Rigorously Verified Algorithms) is a practical, but rigorous, approach to the development of safety-critical software components of systems that interact with the environment. In MINERVA, functional and operational requirements are first specified using a formal specification language. Core algorithms that implement those requirements are also specified and formally proved correct with respect to their specifications. These algorithms are then numerically evaluated on a generated set of test cases. Finally, the output values are compared to outputs computed by an implementation of these algorithms in a programming language with the purpose of showing similar behavior between the algorithm specifications and their corresponding implementations in code.