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A normal 30 minute drive will probably put the charge you used to start the car back in, but I think it's marginal. Once the car is moving at 20mph+ the battery is being charged, so long as you don't have all that stuff working.
How to Charge a Dead Car Battery. There are several reasons your car battery could die; including going for long periods of time without starting your car, storing it in freezing outdoor temperatures, leaving headlights or interior lights on while the car is turned off, and more.