The plan for today is "Segment 1" of the Lith Canyon scenario. Boudreaux will move to various waypoints at the head of the canyon and "watch" the astro-geologists as they descend into Lith and do their work. During this time, they may command Boudreaux to take panorama or still images.

• Kim made improvements and tweaks to the gps server, map server, path planner and obstacle avoidance software
• Nathan provided an anchored rope for the astronauts to use as they descend into Lith Canyon
• An error in the time stamp sent back with still images resulted in duplicate filenames and the loss of one image.
• Nathan and Rob waited to perform their roles as RoboChase while Kim and Jeff returned from the Lith Site to join Ron as HabCom.
• Jeff added various checks in the mobile base server to trap out-of-range linear and angular velocities from the obstacle server.
• Jeff quieted several servers to reduce clutter in the log files and I/O.
• The laser indicated bad status upon powerup. The problem was the sun which was shining quite brightly into it's lens.
• Code changes done this morning apparently failed to trigger the proper dependencies and recompiles, resulting in failures during startup of the mapServer.
• Problems all day (heat crashing computers, wind, ERA problems, Brahms problems) resulted in an aborted attempt at 16:47UTC and a second attempt began at 01:32 UTC (7:32pm local Hanksville time).