Log day 15 Inertial, vision, sonar, laser sensing, model building and navigation technologies were discussed. The team committed to gather quick-look data in the Saxmon/Quecreek mine after considering arguments for and against. Among downside considerations were cost and time-value of our competing agenda. Among upside considerations were the opportunity to enter an abandoned mine, the window of opportunity to access this particular site, and the opportunity to learn from the complete, early experience of conceiving, prototyping and deploying a mine mapping robot. The team agreed to build upon the ATV components and scenario investigated over the weekend. We discussed the process of incorporating market information into our deliberations. We initiated the process of specification of several prototypes. We re-emphasized our milestone of specifying an intended development by 17 September.