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One Earth day is equal to 23 hours, 56 minutes and 4.1 seconds (the time required to complete a single rotation of the Earth).
That's correct, but there's also the solar day which is a couple of minutes longer. Since the Mars year equals approximately 687 Earth days and a Martian day equals approximately 24.62 earth hours (and, the Earth day equals 24 hours), the math is simple: 687 * 24 / 24.62 = 669.699 ~ 669.7.