Known binary asteroid systems, color- and symbol-coded by discovery method. Observational biases are clearly visible (for example, the populations of satellites discovered by imaging and light curves have no overlap), suggesting that gaps in the distribution (for example, in systems with D_p ≈ 50 km or those with very long orbital periods) may simply be observational biases, not real attributes of the population. Systems discovered by stellar occultations are not shown, as the orbital periods are poorly constrained. Only systems with formal diameter estimates are included. As a result of this, systems with diameters <1 km are underrepresented.