full function modes           loss of power modes    reduced
                                        |-----------------------------|-------------------      mode
                                 nominal    normal     night    deploy 1st stage 2nd stage    no nav
loco /    driving actuators       800.00    800.00    400.00    400.00      0.00      0.00    400.00
steering  steering actuators      400.00    200.00    200.00    400.00      0.00      0.00    200.00
          driving amps              0.97      0.97      0.97      0.97      0.97      0.97      0.97
          steering amps             0.97      0.97      0.97      0.97      0.97      0.97      0.97
          AC/DC (190 VDC)           0.93      0.93      0.93      0.93      0.93      0.93      0.93
          sub total              1330.23   1108.52    665.11    886.82      0.00      0.00    665.11

computing realtime                 25.00     25.00     25.00     25.00     25.00     25.00     25.00
          navigation              150.00    150.00    150.00    150.00    150.00      0.00      0.00
          AC/DC                     0.90      0.90      0.90      0.90      0.90      0.90      0.90
          sub total               194.44    194.44    194.44    194.44    194.44     27.78     27.78

comm      radio modem              25.00     25.00     25.00     25.00     25.00     25.00     25.00
          radio bridge             18.00     18.00     18.00     18.00     18.00      0.00     18.00
          multiplexer               0.00      0.00      0.00      0.00      0.00      0.00      0.00
          pointing motors          50.00     50.00     50.00     50.00     50.00      0.00     50.00
          pointing amps             0.97      0.97      0.97      0.97      0.97      0.97      0.97
          AC/DC                     0.90      0.90      0.90      0.90      0.90      0.90      0.90
          sub total               105.05    105.05    105.05    105.05    105.05     27.78    105.05

imaging   front camera             10.00     10.00     10.00     10.00      0.00      0.00     10.00
          rear camera              10.00     10.00     10.00     10.00      0.00      0.00     10.00
          pano camera              50.00     50.00     50.00     50.00      0.00      0.00     50.00
          imaging computer        150.00    150.00    150.00    150.00      0.00      0.00    150.00
          AC/DC                     0.90      0.90      0.90      0.90      0.90      0.90      0.90
          sub total               244.44    244.44    244.44    244.44      0.00      0.00    244.44

sensing   miscellaneous             1.00      1.00      1.00      1.00      1.00      1.00      1.00
          stereo cameras           12.00     12.00     12.00     12.00      0.00      0.00     12.00
          laser scanner            10.00     10.00     10.00     10.00      0.00      0.00     10.00
          IMU                       7.00      7.00      7.00      7.00      7.00      0.00      7.00
          DGPS                     10.00     10.00     10.00     10.00     10.00      0.00     10.00
          compass                   5.00      5.00      5.00      5.00      5.00      0.00      5.00
          AC/DC                     0.90      0.90      0.90      0.90      0.90      0.90      0.90
          sub total                50.00     50.00     50.00     50.00     25.56      1.11     50.00

enviro    coolers                 150.00    150.00    150.00    150.00      0.00      0.00    150.00
          fans                     20.00     20.00     20.00     20.00      0.00      0.00     20.00
          sub total               170.00    170.00    170.00    170.00      0.00      0.00    170.00

misc      lights                  180.00      0.00    180.00      0.00      0.00      0.00      0.00

power     UPS                       0.80      0.80      0.80      0.80      0.80      0.80      0.80
          sub total               742.43    742.43    742.43    742.43    406.31     70.83    534.09

total                            2422.66   2020.95   1757.54   1799.25    406.31     70.83   1369.21

source    generator              2400.00   2400.00   2400.00   2400.00      0.00      0.00   2400.00

balance                           -22.66    379.05    642.46    600.75   -406.31    -70.83   1030.79