I don't have the 802s, but I own a pair of Nautilus 801s (and a Nautilus HTM-1 center and a pair of Nautilus 805 for home theater) and a pair of Matrix 801S3s.
Like Snooker14, I too have opted to keep both pairs of 801s, with the new Nautilus in the living room and the Matrix in my bedroom as the second system.
The N801s are far superior speakers than the M801S3s --there is no comparison and better in almost every respect.
However, the M801S3s are terrific speakers in themselves, with extremely sweet sound. I bought my M801S3s as used, and for that used price, I don't think there's any speaker that comes close to the sound of those speakers.
I don't think you will go wrong with a pair of Matrix 802S3s. These speakers are true classics and will remain so for many years to come......