Bakgaga are currently bottom of the Absa Premiership table, with just 25 points from 29 games, with their slim hopes of survival also resting on either Chippa United or Free State Stars heading into the final round of fixtures this weekend.
Masenamela admits it will not be an easy task to overcome the Urban Warriors in their own back yard, but believes in their preparations over the past week.
“The preparations are going very well. We are working hard as players. We are trying so hard to be focused and not to be distracted by anything,” Masenamela tells KickOff.com.
“We know it’s a crucial game. It’s going to be a tough one – it’s not going to be easy. It’s always tough in Cape Town, but I know that we are ready.
"I’m not saying we are expecting everything to go our way – but we are going to try our best. We do believe that we can survive, you know."
While a win would take Baroka to 28 points, Highlands Park will need to be denied victory by Mamelodi Sundowns and hope that Stars or Chippa walk away with maximum points to ensure their automatic safety.
The former Brazilians full-back, though, says it's important that they focus on getting a positive result in their own match, before turning their minds towards other fixtures.
"But we know that it’s not in our hands right now," concedes the 30-year-old. "That’s why I’m saying it’s so tough, even if you win it's not in your hands... You are hoping and you are looking at the other result.
“But as a player you don’t have to be thinking on what is happening on the other game, we just need to go there and play our own football."