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KARMA User Manual

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1. m Telescope position rotator angle ppt D 4 ang g m Telescope position rotator angle RA 16773 39 310 GN Dec 26 31 21 90 Rot angle deg 0 00 m Algorithm Rules Action A E orate r x eu x ee Ww Statistics Statistics Ans Priol Prio Prio3 Total Arms Priol Prio Prio3 Total on science targets 0 0 0 0 on science targets 0 0 0 U on reference targets 0 0 U U on reference targets 0 0 U U on sky targets 0 0 0 0 on sky targets 19 0 0 19 free 24 free g E Zoom Object M4fits x 16180 26940 Value 12 2667 26 28 33 20 Equinox 2000 Min 3 11082 Max 390 099 Bitpix 32 Low 3 10894 High 120 Auto Set Cut Levels Scale 1 3x d Z z i image select object scroll image 9 measure WCS Control select region Figure 25 Top Control panel before and after having performed telescope instrument adjustment and arm allocation in a dedicated acquisition preparation step Bottom Main window after automatic allocation of reference targets VLT MAN KMO 146606 002 KARMA User Manual Al 10 Step 7 Select telescope guide stars During your observation the telescope will be guided by means of the telescope guide probe which keeps a previously selected star centred all the time To provide a set of coordinates for stars bright enough brig
2. 449000 730000 173399 380032 112844 544121 1 mo 9 58 Ue F we we HH HH FH OF OF OF OF OF OF ZE H HH H Hr FH FOF OF OF OF OF HH H HO FH OF OF OF OF OF OF VLT MAN KMO 146606 002 distance of arm tip from arm axis angular move of arm target priority target type magnitude as given in catalogue science wavelength band as given in catalogue bright object s hitting the arm name id of catalogue entry target RA target Dec y position of arm tip in device system Z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type magnitude as given in catalogue science wavelength band as given in catalogue IFU vignetted T or not vignetted F name id of catalogue entry target RA target Dec y position of arm tip in device system Z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type magnitude as given in catalogue wavelength band as given in catalogue science bright object s hitting the arm name id of catalogue entry target RA target Dec y position of arm tip in device system Z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type magnitude as given in catalogue science wavelength band as given in catalogue IFU vignetted T or not vignetted F VLT MAN KMO 146606 002 OCS
3. ACQ ARMS ACQ ACQ ARMS ACQ ACQ ARMS ACQ ACQ ACQ ACQ ARM6 ARM6 ARM6 ACQ ACQ ACQ ACQ ARM6 ACQ ACQ ARM6 ACQ ACQ ACQ ARM6 ACQ ACQ ACQ ARM7 ACQ ACQ ARM7 ACQ ACQ ARM7 ARM7 ACQ ACQ ACQ ARM7 ACQ ACQ ARM7 ACQ ACQ ARM7 ACQ ACQ ACQ ARM8 ACQ ACQ ACQ ARMS ACQ ACQ ARMS ACQ ACQ ARMS ACQ DELTA EG Z R THETA PRIOR TYPE MAG BAND HIT COMMENT NAME ALPHA DELTA Y Z R THETA PRIOR TYPE MAG BAND VIGNET COMMENT NAME ALPHA DELTA Y Z R THETA PRIOR TYPE MAG BAND HIT COMMENT NAME ALPHA DELTA Y Z R THETA PRIOR TYPE MAG 2062911 46 82 176 4 630000 441702 236410 979821 283103 1 R 9 32 NE M4_058 162329 263029 49 36 208 0 124000 760000 470739 427880 579878 333948 1 RU 8 59 D TA F M4_047 162321 263109 110 13 165 10 398000 390000 263684 172618 829714 431875 1 R 8 81 S be M4_057 162329 263149 43 10 228 880000 010000 512684 035569 704142 918552 1 R S we we HH Hr HO FH OF OF OF OF OF OF HH Hr HO FH OF OF OF OF OF OF H H H H HH FH OF OF OF OF H H HH Hr HOF FH OF OF OF KARMA User Manual 57 target Dec y position of arm tip in device system Z position of arm tip in
4. scroll image measure WCS Control select region Figure 13 Main window after having retrieved countless additional bright object positions from the 2MASS online catalogue by applying the default settings for search radius and magnitude limit According to the nature of the example a globular cluster and depending on the given magnitude limit your field in the main window can easily be overcrowded with additional symbols Please note also that the symbol sizes don t correspond to the radius of the bright objects as it is considered for arm allocation The latter one is currently set to 3 15 arcsec With a click and find feature as in step 1 you can disable unwanted entries selecting them either in the control panel and making the corresponding symbols flash or selecting them by clicking on the circle of the symbol then disabling the entry with the right mouse button in the list The somewhat artificial IDs by the way are defined by the names given via the 2MASS catalogue If you consider a manual disabling of certain list entries too cumbersome just go to the last step then start the current step again with Next modify the magnitude limit and check whether the bright object list now has shrinked to a reasonable size What else can happen Your 2MASS connection times out after 20 s if the network connection is slow or if there are too many objects to retrieve and process If a query delivers more than 500 sources KAR
5. OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS KARMA User Manual ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM2 ARM2 ARM2 ARM2 ARM2 ARM2 ARM2 ARM2 ARM2 ARM2 ARM2 ARM2 ARM2 ARMS ARMS ARM3 ARMS ARMS ARMS ARMS ARMS ARMS ARM3 ARMS ARMS ARMS ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 oCI R SCI SCI SCI SCI SCI SCI SCI THETA PRIOR STYPE MAG BAND SHET COMMENT SCI NAME SCI ALPHA SCI DELTA SCI Y SCI Z SCI R SCI THETA SCI PRIOR SCI TYPE SCI MAG SCI BAND SCI VIGNET SCI COMMENT SCI NAME SCI ALPHA SCI DELTA SCI Y SCI Z SCI R SCI THETA SCI PRIOR SCI TYPE SCI MAG SCI BAND SCI HIT SCI COMMENT SCI NAME SCI ALPHA SCI DELTA SCI Y SCI Z SCI R SCI THETA SCI PRIOR SCI TYPE SCI MAG SCI BAND SCI VIGNET SCI COMMENT 186 ae 877826 228802 1 g 10 46 J M4_009 162336 263043 8 28 240 453000 370000 208126 453191 159504 052884 1 g 9 98 nn F M4_034 162330 262939 O 66 201 S 676000 060000 261090 155675 944551 073983 1 o 9 96 g M4_025 162331 263024 31 39 222 I
6. 23 28 283 23 232 235 23 23 23 23 24 24 293 24 45 36 25 33 846 884 40 33 30 42 43 38 34 35 42 35 38 50 24 35 46 398 24 36 427 29 39 36 35 40 44 29 29 46 47 40 39 30 36 35 30 22 18 53 15 030 09 03 56 06 21 24 21 31 21 926 534 304 105 111 023 676 688 213 605 021 304 T9T 110 469 358 021 653 923 374 144 510 398 577 355 856 054 880 124 323 404 101 969 207 672 200 560 120 690 890 780 050 010 560 540 26 26 26 20 26 26 26 26 26 26 26 26 26 26 20 26 26 26 26 26 26 26 26 26 26 26 26 28 26 26 26 26 26 s26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 33 33 333 32 30 31 31 31 29 31 31 29 31 32 29 32 29 32 30 31 33 31 32 32 33 29 34 30 32 221 30 31 31 30 32 31 31 28 33 30 32 34 22 23 26 30 of 30 24 39 28 38 55 29 30 49 47 Lia 34 39 20 53 15 IT 16 27 T9 23 4T 00 22 43 09 28 59 04 63 54 20 253 56 06 749 29 27 46 39 49 24 39 32 99 16 43 44 03 58 57 03 21 17 01 11 11 22 11 01 94 34 19 63 55 46 20 7
7. ARM15 ARM16 ARM16 SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY TYPE HIT COMMENT NAME ALPHA DELTA Y Z R THETA TYPE VIGNET COMMENT NAME ALPHA DELTA x Z R THETA TYPE HIT COMMENT NAME ALPHA DELTA x Z R THETA TYPE VIGNET COMMENT NAME ALPHA DELTA Y Z R THETA TYPE HIT COMMENT NAME ALPHA KARMA User Manual S target type sky background bright object s hitting the arm corresponds to M4_016 ARM12_SKY 162334 263121 561061 355826 020259 817594 517446 620699 9 F H T name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background IFU vignetted T or not vignetted F corresponds to M4_001 ARM13_SKY 162325 263301 65 69 184 10 821480 603117 512718 075474 292678 660397 ON H name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background bright
8. ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM2O ARM2O ARM2O ARM2O ARM2O ARM20 SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA NAME ALPHA DELTA Y Z R THETA TYPE HIT COMMENT NAME ALPHA DELTA Y Z R THETA TYPE VIGNET COMMENT NAME ALPHA DELTA Y Z R THETA TYPE VIGNET COMMENT NAME ALPHA DELTA Y Z R THETA TYPE HIT COMMENT NAME ALPHA DELTA Y Z R ARM15_SKA 162339 263444 31 118 149 G 397903 330001 365418 687542 052993 009651 IS 1 we we e we we we we H H Hr H FH OF OF we VLT MAN KMO 146606 002 name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background bright object s hitting the arm corresponds to M4_052 ARM16_SKA 162335 263212 29 243 35500
9. ARM17 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM20 ARM20 ARM20 ARM20 ARM20 SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY DELTA x Z R THETA PRIOR TYPE MAG BAND VIGNET COMMENT NAME ALPHA DELTA Y Z R THETA TYPE HIT COMMENT NAME ALPHA DELTA Y Z R THETA TYPE VIGNET COMMENT NAME ALPHA DELTA Y Z R THETA TYPE HIT COMMENT NAME ALPHA DELTA Y Z 263355 340000 22 152307 89 300987 179 543384 4 378733 1 d SL 10 20 Eg F ARM17_SKY 162335 830862 263218 519440 9 260292 33 741969 237 959456 3 178506 9 M4_088 we we we L we we we we we H H HH H FH FH OF OF OF OF we we we e we we we we HH Hr H FH OF OF we 3 VLT MAN KMO 146606 002 target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type magnitude as given in catalogue science wavelength band as given in catalogue IFU vignetted T or not vignetted F name id of catalogue entry targ
10. ARM6 ARM6 ARM6 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARMS ARMS ARMS ARMS ARMS SKA NAME SKA ALPHA SKA DELTA SKA Y SKA Z SKA R SKA THETA SKA TYPE SKA VIGNET SKA COMMENT SKA NAME SKA ALPHA SKA DELTA SKA Y SKA Z SKA R SKA THETA SKA TYPE SKA HIT SKA COMMENT SKA NAME SKA ALPHA SKA DELTA SKA Y SKA Z SKA R SKA THETA SKA TYPE SKA VIGNET SKA COMMENT SKA NAME SKA ALPHA SKA DELTA SKA Y SKA Z SKA R SKA THETA SKA TYPE SKA HIT SKA COMMENT SKA NAME SKA ALPHA SKA DELTA SKA Y SKA Z ARM4_SKA 162336 671969 263029 780000 9 931683 30 557958 246 454031 4 857618 aS F 3 VLT MAN KMO 146606 002 name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background IFU vignetted T or not vignetted F corresponds to M4_064 ARM5_SKA 162329 510143 262901 630001 46 441702 82 236410 176 979821 4 283103 9 H H T name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background bright object s hitting the arm corresponds to M4_051 ARM6_SKA 162329 124152 263019 760001 49 470739 36 427880 208
11. M4_009 16 M4_010 16 M4_011 16 M4_012 16 M4_013 16 M4_014 16 M4_015 16 M4_016 16 M4_017 16 M4_018 16 M4_019 16 M4_020 16 M4_021 16 M4_022 16 M4_023 16 M4_024 16 M4_025 16 been chosen 9 2 lt Jmag 8 0 lt Jmag Jmag Jmag Rmag These settings 23 23 23 235 23 23 23 28 23 23 23 23 23 23 23 23 28 23 23 23 23 23 23 23 23 283 KARMA User Manual Michael Wegner using the 2MASS catalogue for this 35 34 23 21 33 28 33 2 26 36 38 20 27T 34 40 31 23 2s 35 22 38 26 33 36 39 31 10 55 9 20 8 00 10 55 12 00 particular example for for for for for Last modified 2013 11 17 science targets reference targets bright objects marker positions All entries were retrieved from the 2MASS All Sky Point Source Catalog PSC The following arbitrary limits without any scientific justification have guide stars mag of associated optical sources ensure a sufficient visibility of the targets objects on the gets were set to 1 26 26 26 26 26 26 28 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 28 26 26 31 31 383 31 34 32 30 33 31 30 30 31 30 31 31 31 31 30 32 32 31 32 3l 30 31 35 32 259 19 54 56 29 31 43 38 30 59 758 730 45 33
12. SKY SKY SKY E SKY SKY SKY SKY HIT SKY SKY SKY SKY SKY DELTA SKY SKY R SKY SKY VIGNET SKY SKY SKY SKY SKY THETA SKY VIGNET SKY TYPE COMMENT NAME ALPHA DELTA Y Z THETA HIT COMMENT NAME ALPHA DELTA Y Z COMMENT NAME ALPHA DELTA Z R THETA TYPE COMMENT NAME ALPHA y Z THETA TYPE COMMENT NAME KARMA User Manual 73 1 052884 angular move of arm S target type sky background F IFU vignetted T or not vignetted F corresponds to M4_009 ARM3_SKY 162331 262919 37 66 201 SOs 627481 232109 261090 155675 544551 073983 Su H T T T T H T name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background bright object s hitting the arm corresponds to M4_034 ARMA_SKY 162331 263005 31 39 222 sie 949889 865702 173399 380032 112844 544121 SU F T name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background IFU vignetted T or not vignetted F corresponds to M4_025 ARMS_SKY 162327 263017 66
13. catalogue anyway but you have to confirm the loading after KARMA has issued an appropriate warning If possible however you should try to avoid such cases and prepare your catalogue on a native Unix like system Q Why isn t it possible to define new targets by means of the image A Since KMOS has no imaging mode there can be no reasonable restriction regarding the source of an image to be used in KARMA The accuracy of target positions obtained from such an image however would strongly depend on its astrometric properties and possibly be different from the accuracy of other catalogue entries The positioning errors arising from such discrepancies are very difficult to detect and therefore they shall be ruled out by design Q Shouldn t it be impossible to mark a single catalogue entry as science target and potential guide star at the same time A Whether a certain catalogue entry can become a potential guide star can be decided only when the science target allocations are made and the position of the KMOS field of view with respect to the catalogue field is fixed This happens during the KARMA session not before Then of course a guide star cannot serve as a science target anymore since guide stars must lie outside the field of view The same applies the other way around Q Why do you need to specify the telescope position in KARMA if this is already a P2PP parameter A The telescope pointings are specified by the targe
14. 162322 263000 99 53 158 4 783000 160000 381443 767164 037166 224863 1 o 10 56 M4_033 162333 263134 18 023000 760000 182705 677557 630596 936983 1 HH Hr Hr FH FH OF OF OF OF OF we H HH H FH FH OF OF OF OF OF OF we we we we e we we we we H HH HH Hr HO FH OF OF OF we KARMA User Manual 67 name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type magnitude as given in catalogue wavelength band as given in catalogue science bright object s hitting the arm name id of catalogue entry target RA target Dec y position of arm tip in device system Z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type magnitude as given in catalogue science wavelength band as given in catalogue IFU vignetted T or not vignetted F name id of catalogue entry target RA target Dec y position of arm tip in device system Z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type magnitude as given in catalogue science bright object s hitting the arm 3 name id of catalogue entry target RA target Dec y position of arm
15. 2 210 w 353411 633911 137021 811100 693347 711066 WSU T name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background bright object s hitting the arm corresponds to M4_017 ARM6_SKY 162333 263057 e a 11 254 0 987166 809009 300129 280224 176470 466646 SU F name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background IFU vignetted T or not vignetted F corresponds to M4_022 ARM7_SKY name id of catalogue entry 74 OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS KARMA User Manual ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM1O ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 SKY SKY SK
16. At this point however you have reached the end of the KARMA User manual We hope you could benefit from it and wish you good luck with your KMOS observations T Due to a bug in a previous KARMA release the guide star numbering in PAF files created before version 2 2 might be wrong i e selected guide stars might have numbers lower than 1 or greater than 5 This can be corrected in the same way Reload the PAF file and save it again 48 A 1 KARMA User Manual VLT MAN KMO 146606 002 Frequently asked questions Q Why are there so many different tools Exposure Time Calculator P2PP KARMA A For practical and historical reasons The Exposure Time Calculator ETC for instance is usually already required during Phase 1 when a proper evaluation of the required observation time must be made The P2PP tool on its part is necessary only if the proposal from Phase 1 is accepted Furthermore the latter was initially designed to specify simple observation parameters for simple instruments only For rather complex ones these capabilities are not sufficient anymore but must be complemented by additional utilities while the classic P2PP tool still represents the lowest common denominator for all instruments Q Is there any KARMA version for Mac OS or Windows A At the moment there exists a single binary for Mac OS X for an i386 hardware but without any warranty for portability Please consult the following ESO webpage for info
17. BAND Z 5 020259 1 817594 265 517446 0 620699 1 o 10 21 se F M4_007 162327 082000 263329 700000 65 512718 69 075474 184 292678 10 660397 1 o 10 54 J M4_013 162334 940000 263158 480000 3 698100 15 583987 254 071881 0 368113 1 o 10 54 au F M4_004 162333 861000 263419 810000 12 183825 98 446602 175 762857 8 154085 1 g 9 72 TN KARMA User Manual y position of arm tip in device system z position of arm tip in device system we we we we we we we we we we we we we HH FH HO FH OF OF OF OF OF OF H HH Hr HO FH OH OF OF OF OF distance of arm tip from arm axis angular move of arm target priority target type magnitude as given in catalogue science wavelength band as given in catalogue IFU vignetted T or not vignetted F name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type magnitude as given in catalogue science wavelength band as given in catalogue bright object s hitting the arm name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type magnitude as given in catalogue science wave
18. OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS ARM20 ARM20 ARM20 ARM20 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM22 ARM22 ARM22 ARM22 ARM22 ARM22 ARM22 ARM22 ARM22 ARM22 ARM24 ARM24 ARM24 ARM24 ARM24 ARM24 ARM24 ARM24 ARM24 ARM24 SKA SKA SKA SKA SKA SKA SKA OKA OKA OKA OKA OKA OKA OKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA THETA TYPE VIGNET COMMENT NAME ALPHA DELTA Y Z R THETA TYPE HIT COMMENT NAME ALPHA DELTA L Z R THETA TYPE VIGNET COMMENT NAME ALPHA DELTA Y Z R THETA TYPE VIGNET COMMENT KARMA User Manual 0 059176 angular move of arm S target type sky background F IFU vignetted T or not vignetted F corresponds to M4_061 ARM21_SKA 162347 263136 94 O 178 403710 390004 375123 513928 753107 669102 ISH 3 name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background bright objec
19. OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM13 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ Z 35 430353 R 236 940053 THETA 2 910817 PRIOR 1 TYPE RM MAG 8 83 BAND a HIT v COMMENT nn NAME M4_052 ALPHA 162339 398000 DELTA 263454 330000 Y 31 365418 Z 118 687542 R 149 052993 THETA 6 009651 PRIOR 1 TYPE RM MAG 8 46 BAND a HIT W COMMENT me NAME M4_054 ALPHA 162335 355000 DELTA 263222 530000 Y 0 432731 Z 29 684569 R 243 025314 THETA 2 773529 PRIOR 1 TYPE R MAG 8 75 BAND ae VIGNET E COMMENT pa NAME M4_049 ALPHA 162336 144000 DELTA 263201 590000 Y 5 775287 Z 17 407433 R 255 029041 THETA 2 313423 PRIOR 1 TYPE as a MAG 8 88 BAND wg VIGNET F KARMA User Man
20. Stare and Mosaic Depending on the current telescope position an arm is either allocated to a science target or to sky background The offsets between Science and Sky position are performed by the telescope alone while the pick off arms remain fixed at their positions in the focal plane Only a few IFUs are depicted Not drawn to scale Ln the following they shall be somewhat sloppy called observation modes too We assume that you are already familiar with the basic principles of these modes as they were already described in the KMOS User Manual 2 If not look up there first Nevertheless the following subsections provide again a short description of each mode as you are advised to make your choice right now by means of KARMA 7 1 Nod to Sky mode In this mode the sky background signal is obtained by moving nodding the telescope and or rotating the instrument between two previously defined positions depicted by the two schematic configurations in the left column of figure 14 Therefore each pick off arm IFU represented schematically by a black square switches between its scientific target red bullet and a corresponding own sky background position blue square The latter VLT MAN KMO 146606 002 KARMA User Manual 29 one has to be found during the next preparation step In the process of nodding only the telescope and or instrument rotator positions are altered the pick off arm configuration remains unchanged Since it
21. To define telescope position and instrument rotator angle 2 to assign targets to the pick off arms and 3 to find a suitable sky background position for those arms which were assigned science and possibly also reference targets respectively Furthermore depending on the currently selected observation mode in case of doubt see section 7 again these tasks at least partially have to be performed twice For the science and a corresponding sky position The related control panel page therefore looks somewhat more complex than the previous ones figure 18 There are two identical tabs captioned and Sky provided each of which KARMA Control panel KARMA Control panel 19323 37 224 26 31 19 40 Hungarian E Avoid vignetting Allocate A StableMarriage m Avoid bright objects ae Manual A Mosaic Print Figure 18 Control panel before and after having performed telescope adjustment and arm allocation consists essentially of three different sections The labelled frame in the top part lets you offset the telescope and rotate the instrument i e shift and rotate the KMOS mask on top of the image in the KARMA main window With the buttons in the middle of the page you control the allocation process and the bottom part frame gives you some information on how many and which type of targets you have assigned already Start with the tab What to do with the other one is described in subsection 8 3 You have to wa
22. to retrieve it from the 2MASS image server at http irsa ipac caltech edu applications 2MASS IM In combination with the SWarp tool http www astromatic net software swarp it is even possible to construct large area image mosaics However in no way the image will serve as a reference system for any astrometric position Allowing for celestial positions derived from an image of arbitrary source would introduce too many degrees of uncertainty Thus it is not possible in KARMA to define additional targets by means of the image alone except the sky background positions where absolute accuracy is not that important see sections 8 and 9 Therefore it must be emphasised again that the careful preparation of your catalogue is really the most crucial part of the whole preparation cycle Most probably however the image you provide will be also the one where you already have derived your catalogue positions from Then a discrepancy between catalogue positions and their location on the image can arise only for catalogue entries you have taken from another source perhaps from a public domain guide star catalogue Unfortunately there is no easy way out of this kind of misalignment You must take care of having the same astrometric reference system anyhow for instance by aligning object positions which are both available in the guide star catalogue and your image or whatever sources you want to fit Catalogue positions should also be corrected for prop
23. where the individual IF Us of either all the 24 or of a subset of 8 pick off arms are arranged in such a way that with successive telescope pointings a rectangular area can be covered step by step For data reduction a single sky background position as in the other modes is necessary figure 14 third column For the two existing predefined configurations the participating arms are allocated to fixed positions forming a 6x4 or a 4x2 array Figure 15 and figure 16 in their upper left parts show the positions of the IFU s red squares in these arrangements for the first telescope pointing starting in the upper left corner The observation block that you prepare will contain just this first pointing along with the appropriate arm positions All subsequent telescope offsets however will be calculated by the instrument control software automatically during the OB execution To allow for a possible tilt the gaps between the IFU s are slightly smaller than an integer multiple here three and two of the IFU size With the given configurations it is thus possible to map rectangular areas of 2810 and 530 square arc seconds with 16 and 9 telescope pointings respectively in a single OB In the unlikely case that even such a comparatively large field as the 6x4 one is still too small to fulfil your scientific requirements or if you are going to repeat the same observation with a slightly shifted field in order to enable smooth transitions between the in
24. 12 17 Remark with respect to locked disabled arms added The version number of this manual is kept consistent with the version number of the actual KARMA release IV KARMA User Manual VLT MAN KMO 146606 002 This page was intentionally left blank VLT MAN KMO 146606 002 KARMA User Manual Contents 1 Introduction 1 1 Audience prerequisites and organisation of this manual 1 2 Abbreviations and acronyms a soosoo e a a e Lo Pivyiste Sonverieme bk a A ee aa aan aae oe we HG 14 Reference documents x a a 0 a u 448465 kann due amp os 1 5 Web links and contact information 2 m m m a a a 1 6 Acknowledgements 2 222 2 Emm mn An overview of KARMA 2 1 The role of KARMA within the VLT Data Flow System Aa VU a E ee a teana ee ne eS ORDO REE REE ee OS 2 3 What you actually do with KARMA C We ee ee HERO ee ie Getting started 3 1 Obtaining the KARMA package 2 aaa 3 2 Building and installing KARMA from the source distribution 3 3 Installing a KARMA binary distribution CC m mon a Sara le ee ERO AER ED we a 3 5 Adapting the graphical user interface 22 CC CE m mn 3 6 Disabling of single pick off arms 2 HN m m nn 3 7 The example files a a 42 5464 eee ee a a en Step 1 Prepare and load catalogue Step 2 Load image Step 3 Identify bright objects Step 4 Choose observing mode Tol OO er TE ak ew re a ewe an Eh EB s Ro eee nk K R Reh EE
25. 3 Optional A network connection An additional KARMA feature allows to search for additional bright objects to be avoided by pick off arms via the 2MASS online catalogue In order to use its web interface your computer must be connected to the internet See section 6 4 This manual your computer with either a running Linux 32 bit or 64 bit or Mac OS X and of course the installed and running KARMA tool itself How to obtain and build KARMA either from its sources or how to install one of the precompiled binary distributions is described in section 3 KARMA is like other tools supporting the preparation of observations with VLT instruments based on the ESO RTD software better known through its Skycat extension Although some knowl edge of RTD and or Skycat is therefore advantageous it is not really required 2 3 What you actually do with KARMA As a precondition for a KARMA session you must have prepared your input catalogue carefully The configuration task to be performed by KARMA itself then is subdivided into 8 well defined steps see figure 2 1 After having started anew KARMA session you load your previously prepared catalogue into KARMA KARMA displays the positions of all contained entries in the main window See section 4 for a detailed description 2 Then you load your sky background image See section 5 In exceptional cases this step can be skipped although it is not recommended 3 Because of undesirable strayl
26. 30 41 11 90 00 26 89 81 14 88 10 32 37 07 88 56 48 20 14 28 44 54 00 03 38 12 29 44 24 45 48 16 50 85 66 45 13 oo C o ogo ogo 0000000000000 C2 O S OOOO C O 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 Cy Cy Cy CH Cy Cr Cy Cy Cy Cy LA Cy Cy Gy CC LA cc CC cc CC GC GC LA corresponding background image taken from the 2MASS image server as well as a reasonable entry number for each type For the sake of simplicity the priorities of all science and reference tar field centre of M4 marker position l 92 M4_026 M4_027 M4_028 M4_029 M4_030 M4_031 M4_032 M4_033 M4_034 M4_035 M4_036 M4_037 M4_038 M4_039 M4_040 M4_041 M4_042 M4_043 M4_044 M4_045 M4_046 M4_047 M4_048 M4_049 M4_050 M4_051 M4_052 M4_053 M4_054 M4_055 M4_056 M4_057 M4_058 M4_059 M4_060 M4_061 M4_062 M4_063 M4_064 M4_065 M4_066 M4_067 M4_068 M4_069 M4_070 M4_071 M4_072 M4_073 M4_074 M4_075 KARMA User Manual 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 16 23 23 28 283 23 23 23 23 23 23 23 23 23 23 23 23 23 23 283 283 23 23 23 23 23 23 23 23 28 23 23 23 23 23 23 23
27. ACQ TYPE R DCS ARM22 ACQ MAG De 5 OCS ARM22 ACQ BAND le OCS ARM22 ACQ VIGNET E OCS ARM22 ACQ COMMENT N OCS ARM24 ACQ NAME M4_056 OCS ARM24 ACQ ALPHA 162344 054000 OCS ARM24 ACQ DELTA 263006 140000 OCS ARM24 ACQ Y 68 032057 OCS ARM24 ACQ Z 50 271884 OCS ARM24 ACQ R 190 142965 OCS ARM24 ACQ THETA 7 059896 OCS ARM24 ACQ PRIOR 1 3 DCS ARM24 ACQ TYPE R 3 DCS ARM24 ACQ MAG 811 2 OCS ARM24 ACQ BAND v es DCS ARM24 ACQ VIGNET E OCS ARM24 ACQ COMMENT E A Arm configuration at acquisition sky KARMA User Manual 61 angular move of arm target priority target type reference magnitude as given in catalogue wavelength band as given in catalogue IFU vignetted T or not vignetted F name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type reference magnitude as given in catalogue wavelength band as given in catalogue IFU vignetted T or not vignetted F position 0CS TARG SKA ALPHA 162335 410000 telescope pointing RA OCS TARG SKA DELTA 263121 900000 telescope pointing Dec OCS ROT SKA OFFANGLE 0 000000 rotator angle OCS ARM1 SKA NAME ARM1_SKA name id of catalogue entry OCS ARM1 SKA ALPHA 162339 968890 target RA OCS ARM1 SKA DELTA 262839 080001 target Dec OCS ARM1 SKA
28. ARMS ARMS ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM13 ARM13 ARM13 ARM13 ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ BAND YL VIGNET F COMMENT un NAME M4_048 ALPHA 162324 374000 DELTA 263228 490000 Y 86 828227 Z 33 194509 R 180 873476 THETA 6 851374 PRIOR 1 TYPE R MAG 9 44 BAND un HIT vig COMMENT ae NAME M4_050 ALPHA 162331 427000 DELTA 263311 040000 Y 31 333927 Z 58 128201 R 222 747003 THETA 10 793154 PRIOR 1 TYPE R MAG 8 63 BAND En VIGNET F COMMENT ae NAME M4_063 ALPHA 162330 207000 DELTA 263324 130000 Y 40 930268 Z 65 804353 R 199 345401 THETA 7 868197 PRIOR 1 TYPE R MAG 9 25 BAND ud HIT m COMMENT en NAME M4_065 ALPHA 162335 200000 DELTA 263232 330000 Y 1 652207 we we we we we we we we we we we we we VLT MAN KMO 146606 002 wavelength band as given in catalogue IFU vignetted T or not vignetted F name id of catalogue
29. Figure 1 Main steps of a typical KMOS observation The highlighted steps are covered by this Observer s home Raw FITS frames Z OZ GE LU lt UO L CC x A gt manual After having successfully applied for KMOS time you must organise your planned observations into so called Observation Blocks OBs the smallest possible units containing all the information necessary to obtain a single observation These OBs have to be created by means of the P2PP Phase 2 Observing Preparation tool at the astromer s i e your home workstation and then be sent to an ESO repository for later scheduling and execution at VLT in service mode Observing in visitor mode doesn t change the concept very much You only have a little bit more time to prepare your OBs until your visit at Paranal at the latest The P2PP software on its part however is predominantly intended only for the specification of simple parameters like exposure time filter band or other settings which essentially are common to the majority of instruments If KMOS were a rather simple instrument this would be quite sufficient In fact it is not Instead the nature of a multi object spectrometer in general and the complexity of KMOS in particular require that the standard P2PP tool must be complemented by an additional piece of software which allows a more detailed configuration Particularly the optimal allocation of the robotic pick off arms to their
30. M4_045 162335 653000 263122 770000 1 912162 5 352947 264 594903 0 377142 1 gE 9 68 en F we H H H Hr FH FH OF OF OF OF HH HH HO FH OF OF OF OF OF OF VLT MAN KMO 146606 002 target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type science magnitude as given in catalogue wavelength band as given in catalogue bright object s hitting the arm name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type science magnitude as given in catalogue wavelength band as given in catalogue IFU vignetted T or not vignetted F Arm configuration at second Sky position OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS TARG TARG SKY ALPHA SKY DELTA ROT SKY OFFANGLE ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM2 ARM2 ARM2 ARM2 ARM2 ARM2 SKY NAME SKY ALPHA SKY DELTA SKY Y SKY Z SKY R SKY THETA SKY TYPE SKY HIT SKY COMMENT SKY NAME SKY ALPHA SKY DELTA SKY Y SKY Z SKY R 162335 223731 263119 399992 7 500000 ARM1_SKY 162339 713060 262910 209709 25 149100 79 706718 186 87
31. Nod to sky and Stare mode this means that a maximum of targets or more precisely a maximum of those with the highest priority should be inside the field of view Most likely you have already prepared your catalogue in such a way that the catalogue centre is the centre of the target field and in a majority of cases you even have all the targets inside already Then you don t need to change anything here for the time being Certainly however you must do so when you specify the sky background position later on The same applies to the rotate buttons Unless there are broken and therefore locked arms deployed in the field see subsection 3 6 you can at first leave the instrument rotator angle as it is By definition the default angle of 0 degrees corresponds to an instrument focal plane coordinate system exactly aligned with RA and Dec Note that KARMA allows to rotate the instrument and the KMOS mask in the main window to arbitrary angles in multiples of 7 5 degrees by means of the buttons and more precisely if you enter a value into the Rot angle field directly The actual minimum rotation angle and its sign and rotation direction will be then determined by the instrument control software Through the telescope software the instrument rotation is limited to 270 degrees You can by the way always restore the initial catalogue centre position and the default angle of 0 degrees via the crosshairs button in the centre of the panel I
32. OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS SKY SKY SKY OKT SKY SKY SKY SKY SKY SKY SKY DRY SKY SKY SKY SKY SKY SKY OKT SKY SSKY SKY SKY SKY SKY SKY SKY SOR K SKY SKY SKY SKY SKY SKY SKY R THETA TYPE VIGNET COMMENT NAME ALPHA DELTA Y Z R THETA TYPE HIT COMMENT NAME ALPHA DELTA Y Z R THETA TYPE VIGNET COMMENT NAME ALPHA DELTA X Z R THETA TYPE HIT COMMENT NAME ALPHA DELTA m4 ohh R THETA TYPE VIGNET COMMENT KARMA User Manual 240 614543 distance of arm tip from arm axis 3 516980 angular move of arm S target type sky background F IFU vignetted T or not vignetted F corresponds to M4_020 ARM21_SKY 162342 263154 61 12 211 1745794 891056 397007 912331 838836 6391138 MON name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background bright object s hitting the arm corresponds to M4_036 ARM22_SKY 162339 263106 32 11 235 465728 258881 090571 993654 165459 291586 MON F corresponds to M4_024 ARM23_SKY 162343 7262929 5
33. R M4_090 162339 274000 263305 970000 6 97 Me RA Dec magnitude as given wavelength band as RA Dec magnitude as given wavelength band as RA Dec magnitude as given wavelength band as RA Dec magnitude as given wavelength band as RA Dec wavelength band RA Dec wavelength band RA Dec wavelength band RA Dec wavelength band KARMA User Manual in catalogue given in catalogue in catalogue given in catalogue in catalogue given in catalogue in catalogue given in catalogue name id of bright object 1 magnitude as given in catalogue as given in catalogue name id of bright object 2 magnitude as given in catalogue as given in catalogue name id of bright object 3 magnitude as given in catalogue as given in catalogue name id of bright object 4 magnitude as given in catalogue as given in catalogue 96 KARMA User Manual VLT MAN KMO 146606 002 Arm configuration at acquisition target position OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS ARM3 ARMS ARMS ARMS ARMS ARMS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 OCS OCS ARM5 ARM3 ARM4
34. SCI SCI oCl SCI SCI SCI SCI SCI SCI SCI SCI SOCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI LYPE MAG BAND HIT COMMENT NAME ALPHA DELTA ed iL R THETA PRIOR TYPE MAG BAND VIGNET COMMENT NAME ALPHA DELTA cY A R THETA PRIOR TYPE MAG BAND as Bl COMMENT NAME ALPHA SCI ot Shs R THETA PRIOR TYPE MAG SCI VIGNET COMMENT DELTA BAND NAME ALPHA o 9 92 wJ M4_020 162338 925000 263203 500000 27 656731 18 528784 240 614543 3 516980 1 o 10 46 ed has E M4_036 162343 213000 263153 910000 61 397007 12 912331 211 838836 5 639118 1 o 9 96 D T M4_024 162339 488000 263111 440000 32 090571 11 993654 235 765459 0 291586 1 o 9 86 gN F M4_040 162342 797000 HH H FH OF OH OF OF OF OF OF we HH HH H HO FH FOF OF OF OF OF we HH Hr HO FH OF OF OF OF OF OF KARMA User Manual 71 target type science magnitude as given in catalogue wavelength band as given in catalogue bright object s hitting the arm name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type magnitude as given in catalogue science wavelength
35. an activated list item with the right mouse button Regardless of their type disabled catalogue entries are excluded from all further KARMA operations and the corresponding symbol in the main window vanishes Disabled entries can be enabled again via Enable You can delete the whole catalogue if necessary with Clear KARMA 2 4 no image E Zoom Object Y 811 0 16 23 94 772 B 26 27 25 03 Equinox 2000 oO oO Max Bitpix co Low High 0 Auto Set Cut Levels Scale 1x z z Figure 8 Main window after having loaded the example input catalogue M4 cat The different symbols denote the different types of catalogue entries and their positions within the KMOS field of view enclosed by the inner circle The outer circle forms the inner boundary of the avoidance zone for guide star selection if the observation were to be performed at the current position 18 KARMA User Manual VLT MAN KMO 146606 002 If you want to change a particular catalogue entry it is highly recommended to edit the catalogue file and it again In exceptional cases you might want to add a comment or change the priority of a target it is however also possible to modify catalogue positions afterwards by means of a dedicated dialogue figure 9 You get it via the context menu right mouse button on li
36. axis angular move of arm target priority target type magnitude as given in catalogue science wavelength band as given in catalogue bright object s hitting the arm name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type magnitude as given in catalogue science wavelength band as given in catalogue IFU vignetted T or not vignetted F name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority VLT MAN KMO 146606 002 OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS ARM19 ARM19 ARM19 ARM19 ARM19 ARM20 ARM20 ARM20 ARM20 ARM20 ARM20 ARM20 ARM20 ARM20 ARM20 ARM20 ARM20 ARM20 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM22 ARM22 ARM22 ARM22 ARM22 ARM22 ARM22 ARM22 ARM22 ARM22 ARM22 ARM22 ARM22 ARM23 ARM23 SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI
37. band as given in catalogue IFU vignetted T or not vignetted F name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type magnitude as given in catalogue science wavelength band as given in catalogue bright object s hitting the arm name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type science magnitude as given in catalogue wavelength band as given in catalogue IFU vignetted T or not vignetted F name id of catalogue entry target RA 12 OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS KARMA User Manual ARM23 ARM23 ARM23 ARM23 ARM23 ARM23 ARM23 ARM23 ARM23 ARM23 ARM23 ARM24 ARM24 ARM24 ARM24 ARM24 ARM24 ARM24 ARM24 ARM24 ARM24 ARM24 ARM24 ARM24 SCI DELTA SCI Y SCI Z SCI R SCI THETA SCI PRIOR SCI TYPE SCI MAG SCI BAND SCI HIT SCI COMMENT SCI NAME SCI ALPHA SCI DELTA SCI Y SCI Z SCI R SCI THETA SCI PRIOR SCI TYPE SCI MAG SCI BAND SCI VIGNET SCI COMMENT 262927 600000 58 144339 12 870613 180 904355 7 117896 1 oN 9 82 GN K
38. be allowed to vignet parts of the KMOS field during guiding For the same reason the guide star selection task appears so late in the sequence of preparation steps The actual position of the KMOS FoV in all 4 telescope pointings is known only now when the allocation task is already done See figure Here the four red circles indicate the KMOS FoV at science sky acquisition and acquisition sky 42 KARMA User Manual VLT MAN KMO 146606 002 Figure 27 The allowed area for guide star selection blue is the intersection of the Nasmyth fields grey at the 4 telescope positions excluding the KMOS FoV s red and an additional margin yellow taking the actual dimensions of the guide probe at these pointings into account KARMA Control panel KARMA Control panel Dec J2000 Type mag Band Pri C Dec J2000 Type mag Band Pri C ro G G G G G DT 0 0000000000 L a a KX GT G G G G G ry G G 0 00000000 xX gt X X X X X X RA J2000 Dec J2000 Type mag Band Pri C RA J2000 Dec J2000 M4_071 16 23 21 030 26 37 11 58 M4_076 16 23 14 430 26 36 05 54 M4_069 16 23 53 890 26 26 44 24 M4_075 16 24 06 540 26 28 17 72 Figure 28 The control panel before and after 5 potential telescope guide stars have been selected The priorities of the selected ones indicate the order of selection position for an admittedly exceptional large offset case While the KMOS FoV in all these pointings appears comparatively
39. celestial position in order to gt X provide an anchor point for better orientation Also useful for targets whose position shall be kept visible even if they have been already allocated Catalogue entries can be of more than a single type Table 3 shows the possible combinations TolalsiclBicim oxi BEFZFZ Rx iv lvl S xt viv FARA el R Bl ixi DIC CRT yiii x Table 3 Possible type combinations of catalogue entries The type then must be given as simple concatenation of the individual qualifiers without spaces between and without quotes Although such combined types should appear as a single entry in the catalogue file they not necessarily need to but if given as separate entries the IDs must be different in any case they will be split internally by KARMA to allow for a possibly separate treatment and or removal of its components during the KARMA session later on Each target record in the catalogue can also contain the following optional except for reference targets and guide stars where magnitude and wavelength band must be given columns e Magnitude The apparent magnitude if applicable of the entry For reference targets and potential VLT guide stars this information is mandatory recommended brighter than 14th magnitude in J for reference targets and brighter than 12th magnitude in R for guide stars for all other entries it is of no importance to KARMA but will if applicable be transferred to the
40. entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type reference magnitude as given in catalogue wavelength band as given in catalogue HH H Hr FH OF OF OF OF OF OF bright object s hitting the arm name id of catalogue entry target RA target Dec we we we y position of arm tip in device system we z position of arm tip in device system e we distance of arm tip from arm axis angular move of arm target priority target type reference we we we magnitude as given in catalogue we wavelength band as given in catalogue IFU vignetted T or not vignetted F we HH H FH FH HF OF OF OF OF OF we we name id of catalogue entry target RA target Dec we we we y position of arm tip in device system we z position of arm tip in device system e we distance of arm tip from arm axis angular move of arm target priority target type reference we we we magnitude as given in catalogue we wavelength band as given in catalogue we HH H HOF FH OF OF OF OF OF bright object s hitting the arm we name id of catalogue entry target RA target Dec y position of arm tip in device system VLT MAN KMO 146606 002 OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS
41. eso org on the following pages KMOS instrument web page http www eso org sci facilities paranal instruments kmos index html KMOS User Manual and KARMA User Manual http www eso org sci facilities paranal instruments kmos doc index html KMOS Phase 2 web pages http www eso org sci observing phase2 SMGuidelines KMOS html P2PP web page http www eso org sci observing phase2 P2PP3 html KARMA web page http www eso org sci observing phase2 SMGuidelines KARMA html In case of specific questions related t0 KARMA and its use together with P2PP please contact the ESO User Support Department via this email address usd help eso org 1 6 Acknowledgements The initial KARMA version was written by Michael Wegner at Universit tssternwarte M nchen who hereby takes the full responsibility for all possibly arising deficiencies shortcomings and bugs The author also begs your forbearance if this manual should exhibit any deficits in information style or language Suggestions for improvement are always welcome All user questions remarks and reports about KARMA should go to usd help eso org Regardless of that we would like to thank Alessandra Beifiori Ralf Bender Peter Biereichel Nicolas Bouch Michele Cirasuolo Ric Davies Niv Drory Peter Erwin Maximilian Fabricius Michael Hilker Carlo Izzo Mario Kiekebusch Markus Kissler Patig Johannes Koppenhofer Jaron Kurk St phane Marteau Joseph Mohr Bernard Muschielok Luca Pasqu
42. given no guide star KARMA will reject the whole catalogue too In addition KARMA checks each entry for syntactical and as far as possible also for semantical correctness Invalid entries will be rejected Concerning the Mosaic observation mode mapping of a contiguous field with a predefined arm configuration in principle no VLT MAN KMO 146606 002 KARMA User Manual 17 scientific or reference targets need be prepared in advance as the initial position of the arm pattern will be defined interactively using KARMA and since this mode is executed without acquisition Providing a catalogue is necessary even in this case with the exception that the reference targets can be omitted If you now load the M4 example catalogue simply by clicking the button in the control panel figure 7 and choosing the appropriate file M4 cat from the standard file dialogue for the sake of simplicity all targets here have priority 1 ignore the warning and press Load anyway the list in the lower part of the current control panel page gets filled and the corresponding entries will be displayed as symbols in the KARMA main window figure 8 If you click on a list item in the control panel the corresponding symbol in the main window flashes If the other way around you click on a symbol its outline the corresponding list item gets highlighted You can items i e catalogue entries except the field centre via a context menu that you get by clicking on
43. is unlikely that all 24 arms can be allocated at once to scientific targets within a single telescope instrument position it is possible to assign not used arms to remaining targets in the second position where the already allocated arms are usually covering blank sky see subsection 8 3 This leads to a configuration where in both telescope instrument positions left column of figure 14 one subset of arms is allocated to scientific targets and another subset to sky background 7 2 Stare mode The characteristic feature of this mode is that the telescope always points stares to the same position as well as the instrument rotation angle doesn t change upper part of second column in figure 14 The sky background then will be obtained by dedicated sky arms which in contrast to the Nod to Sky mode deliver a signal which is picked not by the same IFU as for the scientific target All pick off arms allocated to science targets can however serve for sky background subtraction simultaneously if their IFUs contain a sufficient number of empty sky pixels A dedicated sky position lower part of second column in figure 14 where all arms are observing blank sky in addition is necessary only once or at least less frequently than in Nod to Sky mode You cannot allocate additional science targets there 7 3 Mosaic mode For the spectroscopic observation of contiguous fields on sky KMOS provides two dedicated config urations known as Mosaic mode
44. off arms manually You select one of the allocation algorithm with the dedicated radio button box Algorithm on the left side of the middle frame in the control panel see figure 18 right Depending on your chosen observation mode not all options might be available In Mosaic mode of course only the corresponding allocation method is possible it is then already preselected for you The other way around the Mosaic allocator is not available for Nod to Sky and Stare mode The allocation itself can be invoked by means of the button middle right You then see the result immediately in the main window The allocated arms are deployed to their target positions the symbols corresponding to assigned targets turn white figure 19 In addition the 24 IFU windows on the right border of the main window now reveal their function for the first time For the arms allocated to targets you see the targets magnified in their associated windows along with the IFU square as it covers the target With the button you can undo the whole allocation All arms will be set back to their rest position If you only want to reset a single arm you must select the method first and click with the right mouse button on the tip of the appropriate arm See also subsection 8 2 3 on this topic To begin with the following subsections describe the implemented allocation methods which you can choose from You can skip subsections 8 2 1 and 8 2 2 if you are not interested in th
45. target positions thereby taking target priorities and several mechanical and optical constraints into account can be accomplished only separately by a dedicated VLT MAN KMO 146606 002 KARMA User Manual 5 tool This is the actual KARMA task Likewise taking place at your home workstation a successful KARMA session delivers an ASCII file in compliance with a proprietary ESO standard the so called PAF format which in turn can then be fed into the P2PP tool and transferred as an OB attachment to the ESO repository 2 2 What you need For a successful KARMA session you need the following things 1 A predefined KARMA catalogue in ASCII format It shall contain the sky coordinates of all your scientific targets potential reference and guide stars as well as optionally the positions of particularly bright objects and a field center all in the same astrometric system Section 4 explains the different entries and the format of the catalogue as a whole 2 A sky FITS image preferentially in the infrared which covers at least the KMOS Field of View FoV It should also have valid and correct WCS information in the relevant header keywords The image is necessary in KARMA only for the determination of a suitable sky background telescope position Furthermore it supports you in getting an impression of what you re actually doing even if it is completely irrelevant for astrometry See section 5 for more information regarding the image
46. targets corresponding to the 24 arms a naive one by one approach is ruled out because of the sheer number of 24 6 2 107 possible 30 KARMA User Manual VLT MAN KMO 146606 002 combinations Moreover the target arm assignment is subject to several additional constraints 1 The travel range of the pick off arms is limited for the linear as well as for the angular movement 2 Any two arms of the same plane should not collide Moreover there should be a minimum distance between them to allow for later corrections of differential atmospheric effects within the Instrument Software at observation time 3 The vignetting of lower plane IFUs by arms of the upper plane has to be avoided 4 To avoid unnecessary stray light emanating from its metallic surface an arm from the upper plane should not be hit by sky objects brighter than a certain limiting magnitude 5 Failed and therefore locked arms you can disable particular arms deliberately see subsection 3 6 can not be moved and must not be assigned to targets although they are still subject to the other constraints For each possible combination of target arm assignment pairs all these constraints have to be taken into account partly requiring expensive computations For this reason also a random approach like that represented by genetic algorithms is ruled out Instead two dedicated automatic optimisation algorithms are provided complemented by the trivial method of allocating pick
47. 1 530000 432731 684569 025314 173529 Su F name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background IFU vignetted T or not vignetted F corresponds to M4_054 ARM18_SKA 162336 263151 5s f 255 143982 590000 175287 407433 029041 313423 ISH F H H name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background IFU vignetted T or not vignetted F corresponds to M4_049 ARM19_SKA 162346 263217 85 32 178 vaz 322736 240003 860756 461284 275667 921517 SH name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background bright object s hitting the arm corresponds to M4_059 ARM20_SKA 162340 263129 36 c 232 100886 770001 911856 617024 801412 name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis VLT MAN KMO 146606 002
48. 2 4 or higher is required Both 32 bit and 64 bit architectures are supported To build KARMA from the sources on Mac OS X is in principle possible but not thoroughly tested e A Bash shell at bin bash The KARMA build scripts require this in order to run smoothly e The GNU g compiler version 4 0 or higher and the GNU make utility Whether other compilers and make versions will be suitable can not be guaranteed Just try it out Furthermore the shared libraries 1ibX11 and libm and a static libstdc should be available on your computer KARMA checks for that If one of the required libraries is missing the configure script of the top level module fails You can then try to install the missing one through your Linux package manager Depending on your distribution you might want to search for packages like libstdc 6 lt version gt dev or libstdc static for the static stdc library or for 1ibx11 6 for the XLib Due to the huge variety of Linux distributions on different hardware platforms a general recipe is beyond the scope of this manual With these prerequisites at hand you can now set to work on the KARMA installation itself The installation you create in this way is essentially the same you would get if you were to use a precompiled binary release see the following subsection 3 3 Just follow the very few steps below 1 Unpack the KARMA package with tar fvxz karma_src lt version gt tar gz A directory karma_src lt version
49. 3159 112 16 156 0 16233 263145 e 65 241 162323 263341 e it 149 a 162334 772000 263135 000000 150000 890000 201541 436636 621648 603904 1 mogu 10 45 H T M4_015 1 959000 740000 154333 115968 824131 685539 1 o 10 35 G S F M4_016 543000 280000 349859 874015 189253 288059 1 o 10 29 QNR M4_001 H 3 we VLT MAN KMO 146606 002 target type science magnitude as given in catalogue IFU vignetted T or not vignetted F 3 name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type magnitude as given in catalogue science wavelength band as given in catalogue bright object s hitting the arm name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type magnitude as given in catalogue science wavelength band as given in catalogue IFU vignetted T or not vignetted F name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority ta
50. 33 19 25 6 97 M4_090 16 23 39 274 26 33 05 97 6 97 M4_087 16 23 23 819 26 34 29 76 7 01 16232381 2634297 16 23 23 819 26 34 29 76 7 01 16233088 2627040 16 23 30 884 26 27 04 02 7 40 16233594 2631008 16 23 35 942 26 31 00 90 7 51 M4_089 16 23 35 942 26 31 00 90 ToL 16234980 2633589 16 23 49 804 26 33 58 91 8 34 16233939 2634543 16 23 39 398 26 34 54 33 8 46 16231655 2632095 16 23 16 558 26 32 09 57 8 50 16234879 2635093 16 23 48 799 26 35 09 30 8 57 16232912 2630297 16 23 29 124 26 30 29 76 8 59 16233996 2628490 16 23 39 969 26 28 49 08 8 61 16233142 2633110 16 23 31 427 26 33 11 04 8 63 16234010 2631397 16 23 40 101 26 31 39 77 8 71 16233535 2632225 16 23 35 355 26 32 22 53 14 BP ZAANG_ OC ZNNCA 16 72 AA MGA 7e ZN NE 1A 8 78 2 77 B B B B B B B B B B B B B B B B B B G Figure 12 The control panel displaying the additional bright objects retrieved from the 2MASS catalogue using default values for search radius and limiting magnitude VLT MAN KMO 146606 002 KARMA User Manual 23 iv KARMA 2 4 M4 fits Zoom Object M4 fits Xx 2023 0 12937 0 Value 3 4633 16 23 32 096 B 26 27 44 60 Equinox 2000 Min 3 11082 Max 390 099 Bitpix 32 Low 3 10694 Auto Set Cut Levels Scale 173 ui Z z i image select object
51. 470 26 33 19 25 B 6 97 J M4_089 16 23 35 942 26 31 00 90 B 7 51 J M4_090 16 23 39 274 26 33 05 97 B 6 97 J 54 KARMA User Manual VLT MAN KMO 146606 002 C Example PAF file This file has been generated by the KARMA tool Do not attempt to edit it by hand Modified files will be rejected by P2PP3 tool PAF Header PAF HDR START PAF TYPE Paramfile PAF ID KARMA_2013 12 02_NodToSky_M4_demo ins PAF NAME KARMA_2013 12 02_NodToSky_M4_demo ins PAF DESC KARMA PAF output PAF CRTE NAME KMOS OSS PAF CRTE DAYTIM 2013 12 02T14 31 27 PAF LCHG NAME Ka PAF LCHG DAYTIM ae PAF CHCK NAME KMOS OSS PAF CHCK DAYTIM 2013 12 02T14 31 27 PAF CHCK CHECKSUM 2201531429 PAF HDR END Primary Keywords TEL TARG NAME M4 cat name of the catalogue TEL TARG EQUINOX 2000 0 epoch TEL TARG ALPHA 162335 410000 initial telescope pointing RA TEL TARG DELTA 263131 900000 initial telescope pointing Dec TEL ROT OFFANGLE 0 000000 initial rotator angle 0CS OSS VER 2 4 KARMA release number 0CS OSS REVISION 249335 KMOS SVN revision number TPL MODE OBS NOD_TO_SKY sky background subtraction mode TPL MODE ACQ FROM_REFERENCE acquisition mode a ESS RER EESCR HERE AR SR ER BER EEE AP EREER DEE PERER EHER A A AAA Path for PAF file within INS TPL FILE DIRNAME INS_ROOT SYSTEM MISC Switch on off arm initialisation in templates OCS ARMS INIT F Initiali
52. 579878 0 333948 on F H name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background IFU vignetted T or not vignetted F corresponds to M4_058 ARM7_SKA 162321 398339 263059 390005 110 263684 13 172618 165 829714 10 431875 OY name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background bright object s hitting the arm corresponds to M4_047 ARM8_SKA 162329 880134 263139 010001 43 512684 10 035569 name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system VLT MAN KMO 146606 002 OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS ARMS ARMS ARMS ARMS ARMS ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 AR
53. 6 06 91 91 95 TT 62 60 99 52 83 53 TT 91 39 49 33 04 14 01 76 24 39 TT 08 18 33 86 28 24 69 27 39 2 OOO 0 0 0 C a ANAN QAN QAN AQA AQA QAQ 0 0 0 0 0 0 0 99 77 979 9 9 09 9 09 09 09 09 GO G G G G G GO GO GO GO O O O 10 10 91 10 TD 10 94 10 96 10 96 10 10 10 2 55 66 192 89 68 14 81 44 88 63 32 46 35 15 ol UT 1 59 19 92 1 61 25 82 83 TU 2 60 90 80 TU 90 30 40 60 OO O O O O KA KO FP CO CO WO O O O WO A WO COMO MO OO CO O CO WO O C 10 20 29 16 58 25 46 07 16 Dooyoo GO EO GO mo ou oo oo oo oo t uuu u 4 x xx x x tx x x X PR PR KA KA KK KA KA KK KA KA KA KA KK KA PR KA KA KA BP KA KA KA KA KK Pr KA KA KA KA KA X KA KA KK KA KA KA KA VLT MAN KMO 146606 002 marker position VLT MAN KMO 146606 002 KARMA User Manual 53 M4_076 16 23 14 430 26 36 05 54 G 10 50 R M4_077 16 24 15 870 26 35 06 62 G 11 60 R M4_078 16 23 23 710 26 31 03 44 G 9 60 R M4_079 16 23 19 190 26 33 50 59 G 11 20 R M4_080 16 23 43 150 26 27 16 37 G 11 80 R M4_081 16 23 19 460 26 39 56 95 G 12 00 R M4_082 16 22 50 110 26 28 24 78 G 11 70 R M4_083 16 23 48 800 26 35 09 33 G 11 70 R M4_084 16 23 32 450 26 26 45 79 G 10 30 R M4_085 16 23 01 210 26 23 30 711 G 9 70 R M4_086 16 24 12 930 26 36 19 02 G 11 60 R M4_087 16 23 23 819 26 34 29 76 B 7 01 J M4_088 16 23 38
54. 7826 2 228802 Su we we e we we we we ZE H H Hr H FH OF OF we telescope pointing RA telescope pointing Dec rotator angle name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background bright object s hitting the arm corresponds to M4_037 ARM2_SKY 162336 729691 263033 112252 8 208126 28 453191 240 759504 name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis VLT MAN KMO 146606 002 OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS ARM2 ARM2 ARM2 ARM2 ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM5 ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARM6 ARM6 ARM6 ARM6 ARM6 ARM6 ARM6 ARM6 ARM6 ARM6 ARM7 SKY SKY SKY SKY SKY SKY SKY R SKY TYPE SKY SKY SKY SKY SKY SKY SKY SKY SKY R THETA TYPE VIGNET SKY SKY SKY SKY SKY
55. 8 12 180 me 155965 103735 144339 870613 904355 117896 wo 3 H name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background IFU vignetted T or not vignetted F name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background bright object s hitting the arm corresponds to M4_040 ARM24_SKY 162335 263110 553434 173786 912162 352947 594903 377142 9 we we we we we we we we HH HOH OF OF OF F corresponds to M4_045 name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background IFU vignetted T or not vignetted F TT
56. 8 can be repeated as long as there are not assigned targets available in the catalogue Step 6 will be skipped by KARMA automatically in case there are already science targets bright enough for acquisition allocated in step 5 Likewise for the Mosaic Mode there is no separate acquisition step required 2 4 All steps which are only briefly mentioned here are desribed in full detail in sections 4 to 11 What you get If you follow the steps above you will complete your KARMA session with the following things created One or more ASCII file s in an ESO specific proprietary PAF format which you can attach to the Observation Block s you create with the P2PP tool via the entry KARMA target setup file One or more JPEG finding charts that have to be attached to Observation Blocks later on Optional One or more PostScript files showing your actual arm configuration and corresponding position information Optional An XML file which saves the actual state of the KARMA session and allows to resume work on the current configuration at any time 8 KARMA User Manual VLT MAN KMO 146606 002 3 Getting started 3 1 Obtaining the KARMA package As of 1 March 2013 KARMA can be obtained from the following web page at ESO providing always the most recent KARMA version for download http www eso org sci observing phase2 SMGuidelines KARMA html Check there from time to time for new releases Make sure you have the most rec
57. 92 IT M4_055 162340 856000 263121 560000 42 854579 6 058593 228 344666 we we we H HH Hr HO HOF OF OF OF OF OF H HH H HO FH OF OF OF OF OF OF VLT MAN KMO 146606 002 name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type reference magnitude as given in catalogue wavelength band as given in catalogue bright object s hitting the arm name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type reference magnitude as given in catalogue wavelength band as given in catalogue IFU vignetted T or not vignetted F name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type reference magnitude as given in catalogue wavelength band as given in catalogue bright object s hitting the arm name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis VLT MAN KMO 146606 002 DCS ARM22 ACQ THETA 2 711510 OCS ARM22 ACQ PRIOR 1 OCS ARM22
58. ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ARMS ACQ ACQ ARM3 ACQ ACQ ARMS ACQ ACQ ARMS ACQ ACQ ARM3 ARM3 ACQ ACQ ACQ ACQ ARM4 ACQ ACQ ARM4 ACQ ACQ ARM4 ACQ ACQ ARM4 ACQ ACQ ACQ ARM4 ACQ ACQ ACQ ARMS ACQ TARG ACQ ALPHA TARG ACQ DELTA ROT ACQ OFFANGLE NAME ALPHA DELTA Y Z R THETA PRIOR TYPE MAG BAND HIT COMMENT NAME ALPHA DELTA Y Z R THETA PRIOR TYPE MAG BAND HIT COMMENT NAME ALPHA DELTA Y Z R THETA PRIOR TYPE MAG BAND VIGNET COMMENT NAME ALPHA 162335 263131 0 410000 900000 000000 M4_062 162339 262849 35 95 168 f 969000 080000 888012 459355 107181 150209 1 R 8 61 rd li M4_053 162336 263020 S 42 229 577000 040000 184491 131627 892040 642493 1 RY 9 35 D T M4_064 162336 263039 9 30 246 4 672000 780000 931683 557958 454031 857618 1 R 8 82 mgm F M4_051 162329 510000 HH Hr FH FH FOF OF OF OF OF we HH H FH FH FOF OF OF OF OF we HH H HO FH FH OF OF OF OF OF telescope pointing RA telescope pointing Dec rotator angle name id of catalogue entry target RA target Dec y position of arm tip in device system Z position of arm tip in device syste
59. ASCII characters appearing in green in table 4 The red ones particularly any control characters including tabulators are forbidden Their occurrence will be detected by KARMA during catalogue reading Although tabs can be used to separate the catalogue columns they are not allowed in comments since these are without change transferred to the instrument workstation where some special characters might not be treated as expected 16 KARMA User Manual VLT MAN KMO 146606 002 RIST albleld e lf g lalil j k Im alo plalejs ltlulv wix yjzlilt r per Table 4 ASCII set with characters allowed green and forbidden red in catalogue comments All columns must be separated by spaces and or tabs and appear on the same line An omitted optional column must be replaced by an asterisk in case there are remaining columns with data provided before the end of the line Furthermore the catalogue can include an arbitrary number of comment lines beginning with As an example of a user defined input catalogue the M4 catalogue used in the tutorial example is given in appendix B Compare with this example and create your own catalogue with any suitable editor If you do this on a system other than Linux or Mac OS X or if you transfer your catalogue files via e mail you should take care that no DOS like carriage returns are added to the lines of the text file Since these special characters usually never appearing in Unix like ASCII files m
60. After having finished a KARMA cycle the control panel offers the possibility to check these configurations and to save them as PAF file left before right after the PAF file was saved and the corresponding pick off arm configurations you have defined during steps 5 and 6 The control panel offers you 4 more tabs each of which giving access to a table with 24 rows for the 24 pick off arms Each of these rows in turn summarises the most important settings for the arm it is related to e The ID of the target which the arm is assigned to For artificial sky positions those created automatically during allocation in contrast to the ones already present in the KARMA input catalogue the ID is ARM lt i gt 1 lt i lt 24 with suffix SCI SKY ACQ or _SKA e The celestial position right ascension and declination e The type of the target O for science R for reference and S for sky targets e The priority of the assigned target e The comment from the KARMA catalogue if existing Rows corresponding to free or locked arms remain empty The arm button in front of each row highlights the corresponding pick off arm in the main window VLT MAN KMO 146606 002 KARMA User Manual 45 You can switch between the tabs The main window then will show the corresponding arm config uration in the appropriate telescope position If step 6 was omitted because the acquisition is possible from science targets alone or if you are going to observe in Mosa
61. E REG RRR RG ee ae toe ee I a Eee ER ee eS ee ee 6 7 4 Switching between the modes 0 nn Step 5 Define arm configuration for science observation 8 1 Fixing telescope position and instrument rotator angle 8 2 Allocating The pick off arms 44 2 Fae wd ee aw wR ORO we eee 321 BeAr Al ee ww OO ERD ed 8 2 2 Stable Marriage Algorithm 0 00 eee ee ee S20 Wise AUCH ss esera baw Ree EASE einher HH EES ES 8 2 4 Allocation in Mosaic Mode 0 0 ee 8 3 Finding a suitable sky background position 0 00002 eee 8 4 Creating hardcopies and finding charts 2 CC m mn nn Step 6 Define arm configuration for acquisition 9 1 Acquisition from science targets 1 9 2 Acquisition from reference targets 1 2 Cm mn nn 10 Step 7 Select telescope guide stars w Wwe N KF Ke ked I ur 14 19 22 24 24 25 25 2 VI KARMA User Manual VLT MAN KMO 146606 002 11 Step 8 Save configuration PAF file 44 12 It s not over until it s over 46 A Frequently asked questions 48 B Example catalogue 51 54 C Example PAF file VLT MAN KMO 146606 002 KARMA User Manual 1 1 Introduction Welcome The document you just start reading describes how to use KARMA KARMA the KMOS Arm Allocator is a stand alone software tool that is based on the ESO Real Time Display RTD package It supports you in preparing observations with the multi object integral field spectrometer KMOS at the Ve
62. FITS header at observation time If possible magnitudes should be given in the Vega system for guide stars this is mandatory e Wavelength band This column refers to the previously given apparent magnitude if any and can be any string which however must not contain spaces and quotes It is mandatory for reference targets and guide stars KARMA doesn t check whether the given string makes sense it is however recommended to use standard identifiers like U B V R I Johnson Cousins Z Y J H K or Ks in the infrared and u g r i z for Sloan magnitudes e Target priority Only applicable for targets An integer between 1 an 3 denoting the priority 1 being the highest the corresponding target shall be assigned with to a pick off arm If not given priority 1 is used A single target of a higher priority class outweighs 24 targets of a lower one providing for an unconditional allocation of this higher class target Although priorities primarily were introduced having only science targets in mind for consistency reasons they are allowed for reference and sky targets as well If all your targets have priority 1 KARMA issues a warning as this might affect the rotator optimisation in case of possibly broken arms at execution time See subsection 3 6 and the KMOS User Manual 2 for more information on that e Any comment Since this is if existing always the last column it can be abitrarily long and can include spaces and all
63. Linear pos Angular pos an Linear pos Angular pos mm deg mm deg mm deg _ E al a faa 7O l 141 00 igi nz s US RA kam 70 S 11 UU S al 4 E 135 0m in OO 135 709 A GQ E re 7O Ka 0O E E _ a 135 707 11 007 135 707 11 007 135 707 11 007 135 70 11 00 135 70 11 008 135 70 11 008 135 708 11 00 135 708 11 008 135 70 11 008 135 70 11 00 135 70 11 008 135 70 11 008 135 708 11 00 135 70 11 008 135 70 11 008 135 708 11 008 135 70 11 00 135 708 11 008 1 2 3 4 5 6 7 8 Figure 6 Dialogue window that allows to disable enable individual arms It is available via the main menu in steps 5 and 6 provides for an optimal instrument rotator angle most likely different from the one specified in KARMA so that a maximum number of the most important targets can still be observed This is of course only possible for setups with different target priorities For more details on rotator optimisation please see also the KMOS User Manual 2 3 7 The example files Now it s time to have a look at the example data You find them in subdirectory data At the time of writing there are 3 examples each of which consists of a catalogue cat and an image fits file They cover the globular clusters M4 M5 and 47 Tuc Though not really targets for serious KMOS observations the many stars contained therein and their well known positions respectively are used for the astrometric cal
64. M11 ARM11 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 OKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA OKA OKA OKA OKA OKA R THETA s TYPE VIGNET NAME ALPHA DELTA Y Z R THETA TYPE HIT KARMA User Manual 63 228 704142 distance of arm tip from arm axis 3 918552 angular move of arm ARM 162324 263218 86 e 180 G S target type sky background F IFU vignetted T or not vignetted F COMMENT corresponds to M4_057 9_SKA 374267 490003 828227 194509 873476 851374 on T name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background bright object s hitting the arm COMMENT corresponds to M4_048 SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA SKA NAME ALPHA DELTA Y Z R THETA TYPE VIGNET COMMENT NAME ALPHA DELTA Y Z R THETA TYPE HIT COMMENT NAME ALPHA DELTA Y Z R THETA TYPE HIT COMMENT ARM10_SKA 162331 263301 31 427096 040000 333927 58 222 10 128201 747003 793154 HON F we we L we we we we H HH Hr HF FOF OF we 3 name id of
65. MA its purpose philosophy and role within the VLT Data Flow System Section 3 then explains how to obtain install and start the KARMA package on your computer as well as it helps you to explore the main features of the Graphical User Interface GUI Having accomplished this sections 4 to 11 shall guide you through the several steps of a typical KARMA session in full detail along a running example Section 12 eventually shows the different possibilities to resume a KARMA session in case it was interrupted before for whatever reason A list of FAQs can be found in the appendix which also includes an input catalogue example and a typical KARMA target setup file in the ESO PAF format in short PAF file as it is created by KARMA To make the most of this manual you should read it in a sequential way section by section In particular sections 4 to 11 all build upon each other and in each step the running example will be developed a little bit further Therefore it will be useful to have a running KARMA installation at hand where you can try out the suggested interactions immediately Once you have finished the guided tour through KARMA you have then not only prepared a KARMA example output file which at least in principle could be attached to a realistic Observation Block later on Much more important You will hopefully be able to prepare your own observations and to evaluate the capabililties and limitations of KARMA This is the i
66. MA stops with an error message anyway just remember bright objects have to be avoided in order to facilitate a reasonable further processing Just try it again in this case with different parameter values A repeated query should never be a problem since duplicate IDs will be discarded anyway You get a message about that In case a bright object retrieved from 2MASS was already given with the initial catalogue there isn t a problem either If you detect such double entries you can remove them otherwise both objects will be taken into account during allocation which does not pose a problem at all If eventually you are done click Next 24 KARMA User Manual VLT MAN KMO 146606 002 7 Step 4 Choose observing mode Although KMOS is a rather complex instrument it offers essentially only a single observation mode Integral Field Spectroscopy This is the case at least in the sense as the term observation mode is usually understood within the context of VLT instrumentation Apart from that however KMOS knows three different modes whereof two are mainly distincted by the way the sky background signal is determined The third allows for the observation of contiguous fields on sky instead of single targets See figure 14 below CC ne UT O Q eD O C 0 L Y Iw oO Q O LU Ww 2 oO Telescope at Sky position Figure 14 Schematics of the three observation modes configurable by KARMA Nod to Sky
67. OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS ARM5 ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARM6 ARM6 ARM6 ARM6 ARM6 ARM6 ARM6 ARM6 ARM6 ARM6 ARM6 ARM6 ARM6 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI NAME ALPHA DELTA ER SCI R THETA PRIOR TYPE MAG BAND HIT COMMENT Z NAME ALPHA DELTA si 2 R THETA PRIOR TYPE MAG BAND VIGNET COMMENT NAME ALPHA DELTA sY Z R THETA PRIOR aT YPE MAG HIT COMMENT marker position NAME SCI SCI gM A R THETA PRIOR ALPHA DELTA M4_017 162327 263044 66 a 210 o 006000 450000 137021 811100 693347 711066 1 oO 10 59 H TAD M4_022 162333 263112 11 11 254 U 974000 660000 300129 280224 176470 466646 1 o 10 53 METU F M4_019
68. OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS KARMA User Manual ARM18 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM20 ARM20 ARM20 ARM20 ARM20 ARM20 ARM20 ARM20 ARM20 ARM20 ARM20 ARM20 ARM20 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM21 ARM22 ARM22 ARM22 ARM22 ARM22 ARM22 ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ ACQ COMMENT NAME ALPHA DELTA Y Z R THETA PRIOR TYPE MAG BAND HIT COMMENT NAME ALPHA DELTA Y Z R THETA PRIOR TYPE MAG BAND VIGNET COMMENT NAME ALPHA DELTA Y Z R THETA PRIOR TYPE MAG BAND HIT COMMENT NAME ALPHA DELTA Y Z R M4_059 162346 323000 263227 240000 85 860756 32 461284 178 275667 0 921517 1 R 9 19 ed M4_061 162340 101000 263139 770000 36 911856 617024 801412 059176 1 R 8 71 ST F M4_060 162347 404000 263146 390000 94 375123 8 513928 178 753107 6 669102 1 KRU 8
69. Y SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SKY SORY SKY DRY SKY SKY SKY oR R VLT MAN KMO 146606 002 SKY SKY SKY SKY SKY SKY SKY SKY SKY ALPHA 162323 597389 target RA DELTA 262926 324996 target Dec Y 99 381443 y position of arm tip in device system Z 53 767164 z position of arm tip in device system R 158 037166 distance of arm tip from arm axis THETA 4 224863 angular move of arm TYPE S target type sky background HIT bright object s hitting the arm COMMENT corresponds to M4_019 NAME ARM8_SKY name id of catalogue entry ALPHA 162332 829422 target RA DELTA 263118 053998 target Dec Y 18 782705 y position of arm tip in device system Z 1 677557 z position of arm tip in device system 251 630596 distance of arm tip from arm axis THETA 0 936983 angular move of arm TYPE S target type sky background VIGNET F IFU vignetted T or not vignetted F COMMENT corresponds to M4_033 NAME ARM9_SKY name id of catalogue entry ALPHA 162320 814376 target RA DELTA 263122 170313 target Dec Y 112 201541 y position of arm tip in device system Z 16 436636 z position of arm tip in device system 156 621648 distance of arm tip from arm axis THETA 0 603904 angular move of arm TYPE S target type sky bac
70. Y 35 888012 y position of arm tip in device system OCS ARM1 SKA Z 95 459355 z position of arm tip in device system OCS ARM1 SKA R 168 107181 distance of arm tip from arm axis OCS ARM1 SKA THETA 1 150209 angular move of arm OCS ARM1 SKA TYPE S target type sky background OCS ARM1 SKA HIT bright object s hitting the arm OCS ARM1 SKA COMMENT corresponds to M4_062 OCS ARM3 SKA NAME ARM3_SKA name id of catalogue entry OCS ARM3 SKA ALPHA 162336 576972 target RA DCS ARM3 SKA DELTA 263010 040000 target Dec OCS ARM3 SKA Y 9 184491 y position of arm tip in device system DCS ARM3 SKA Z 42 131627 z position of arm tip in device system DCS ARM3 SKA R 229 892040 distance of arm tip from arm axis OCS ARM3 SKA THETA 3 642493 angular move of arm OCS ARM3 SKA TYPE S target type sky background OCS ARM3 SKA HIT bright object s hitting the arm OCS ARM3 SKA COMMENT corresponds to M4_053 62 OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS KARMA User Manual ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARM6 ARM6 ARM6 ARM6 ARM6 ARM6 ARM6
71. ach arm to its assigned target for all possible assignment pairs simultaneously Such an approach directly follows from the fact that the sum over the distances axis target for any two target arm pairs is minimum for the case in which the arms don t cross Thus the overall sum over the target axis distances is also minimum and the constraint of collision free assignment for dimensionless arms though is fulfilled by the algorithm in a natural way Regarding the other constraints not all of them can be taken into account simultaneously Therefore always a few assignment pairs obtained by application of the algorithm must be discarded afterwards by moving all arms to their destination position virtually and checking whether the new position is permitted The eclipse of a lower plane IFU however can be avoided easily by the assignment of lower plane arms to targets in the centre and the assignment of upper plane arms to more outward targets In addition the impossible assignments due to the limited travel range can be excluded partially by giving them a factor 2 penalty in the initial cost matrix Embedding the central optimisation algorithm into the more general assignment procedure and allowing for the remaining constraints bright object hits failed arms the following sequence of steps arises Essentially it forms a two stage method allocating the bottom layer arms in a first stage and the top layer arms in a second one 1 Select the reacha
72. all over again If this is the case you need not do this instantaneously Instead you can save the current state of your KARMA session by means of the main menu item Save XML It conserves all available settings in a proprietary XML file so that you can resume work later on exactly at the point you have reached now You can by the way do this whenever you want The next section tells you more about the options you have It also explains why you end up in step 4 if you choose now Better You should It is strongly recommended 46 KARMA User Manual VLT MAN KMO 146606 002 12 It s not over until it s over If you now still haven t given up although the KARMA preparation process came to a preliminary end you find yourself in step 4 again after having pressed at the end of the last step This will usually be the case if your catalogue contains more than 24 targets Then you have to create more than a single OB and you will prepare further PAF files with a similar sequence of actions as described in the last sections The right part of figure 30 illustrates the transitions between the different preparation steps KARMA mode entry i open control panel exit close control panel do handle user input START RTD mode entry do nothing exit clear image do handle user input Next ia Back Next acquisition from reference Next acquisition from science Mosaic Ba
73. ame Repeat point 2 and 3 until either all arms are assigned or there are no available targets anymore 4 Remove those assignments from the configuration which violate the collision eclipsing and bright object constraints Make the corresponding targets available again for subsequent allocations 82 3 Manual Allocation As a supplement to the automatic methods described above you have always the possibility to allocate and deallocate single arms interactively Select in the Algorithm frame for this purpose Then grab a free arm which is not assigned to a target yet in the main window by clicking on the centre of its tip If you want to change the position of an arm already assigned to a target you must reset it before A right button click on its tip centre does it The arm snaps back into its rest position and the symbol corresponding to the possibly assigned target turns back to the unallocated symbol colour Note that button also in this manual mode resets all arms as it is the case when using the automatic algorithms Once selected drag the arm of your choice to the desired position while keeping the left mouse button pressed KARMA decides whether the final position is allowed only if you release the mouse button and the arm respectively If a collision with an other arm is detected then you get an error message after the confirmation of which the arm snaps back into its previous position Concerning the rules of vignetting an
74. ation mode x Nod to Sky x Stare Mosaic large field w Mosaic small field Mapping areas y offset z offset 1 32 4035 arcsec 21 605 arcsec 2 32 40 arcsec 21 605 arcsec 3 32 40 arcsec 21 60 arcsec 4 32 40 arcsec 21 605 aresec Back Abort Next Figure 17 The control panel with the three four options for observation mode selection The bottom section opens up the opportunity for additional settings related to the Mosaic mode In this particular case all four available mapping areas are active thereby jointly forming a maximum size Mosaic field through appropriate offsets Look at the control panel now You can switch between the different modes by means of the radio buttons in the upper part of the panel figure 17 The lower part is dedicated to additional mode specific settings required only by the Mosaic mode and here only if you need more than a single mapping area at once In this case you can enable additional ones by means of the buttons in the left column leading to additional PAF files that shall be saved along with the original one With the spin buttons you can then specify the relative positions of the additional areas and hence the total size of the Mosaic field as it is made up by the individual rectangles The offsets in y and z axes of the instrument coordinate system here are meant as shifts of the mapping areas compared to the default i e to the current telescope pos
75. ations the selected guide stars not all from the catalogue the telescope positions and the bright object list All other settings particularly the remaining science and reference targets from the catalogue are lost Furthermore it is not possible to change such a reloaded configuration As already mentioned in the last section you should check anyway whether everything went well with your observation preparation by loading your own just created PAF file into KARMA again You should do this particularly if you have transferred the file by e mail or if you have moved it between different operating sytems KARMA can check then for possible defects and to a limited extent gives you the opportunity to repair a corrupted file If the latter for example contains DOS like carriage returns see also the recommendation in section 4 KARMA issues an appropriate warning through a dedicated message dialogue You can either the file here leaving it unchanged and probably corrupt or you can force the PAF loading via the button You only have to save it again then through the corresponding control panel page the one dedicated to step 8 the original file will remain unchanged unless you overwrite it deliberately The same applies to for whatever reason wrong check sums They will be corrected if you the PAF file again Finally with you always start a completely new KARMA session It would lead you again to step 1 and section 4 respectively
76. ay hamper the execution of an Observation Block at the instrument workstation if they accidentally make it to the PAF file KARMA checks for such occurrences and rejects a catalogue file as corrupted if any carriage return has been found KARMA Control panel Catalogue Step 1 Load catalogue Catalogue file p M4 cat Clear Catalogue entries ID RA J2000 Dec J2000 Type mag Band Pri C M4_000 16 23 35 410 26 31 31 90 K K x f M4_001 16 23 34 772 26 31 35 00 10 215 J M4_002 16 23 23 058 26 33 32 26 10 32 J M4_003 16 23 21 150 26 31 59 89 10 45 J M4_004 16 23 33 861 26 34 19 81 9 72 J M4_005 16 23 28 460 26 32 54 14 10 4 J M4_006 16 23 33 130 26 30 56 88 10 14 J M4_007 16 23 27 082 26 33 29 70 10 54 J M4_008 16 23 26 942 26 31 31 32 9 51 J M4_009 16 23 36 453 26 30 43 37 9 98 J M4_010 16 23 38 571 26 30 38 07 10 16 J M4_011 16 23 20 899 26 351 36 88 10 54 J M4_012 16 23 27 418 26 30 59 56 10 23 J M4_013 16 23 34 940 26 351 58 48 10 54 J M4014 16 23 40 986 26 31 30 20 M4015 16 23 31 959 26 31 45 74 M4016 16 23 23 543 26 33 41 28 M4_017 16 23 27 006 26 30 M4_018 16 23 35 639 26 31 M4 019 16 23 22 783 26 30 Biss en 10535 10 29 J 10 59 J Pes Fear 10 56 ooooooooooooooooo00n L M M M G G G M M M M M G G G R L LA Figure 7 Control panel after having loaded the example input catalogue MA cat Furthermore in case of other serious deficiencies no centre
77. ble targets and exclude those outside FoV Restrict to the highest available priority class 32 KARMA User Manual VLT MAN KMO 146606 002 2 Select the 12 innermost targets Begin with the target which has minimum distance to the centre of FoV 3 Assign these just selected inner targets to bottom layer arms by applying the Hungarian Algo rithm 4 Check whether the obtained assignments are permitted with respect to the several constraints Discard those assignment pairs which are not Sort out the corresponding targets and make them available for subsequent assignments again 9 Draw an imaginary boundary around the assigned inner targets Exclude all not yet assigned targets inside this area from the list of available targets 6 Assign the best fitting targets i e only those with highest priority from those still remaining to top layer arms by applying the Hungarian Algorithm again 7 Check for impermissible assignments like in step 4 Discard the pairs violating a certain constraint Sort out the corresponding targets and make them available for subsequent assignments Because of its simultaneous nature the Hungarian algorithm is best suited for equally weighted targets In order to maintain the requirement of collision free assignment all targets must be handled equally Targets of lower priority can be considered only in case all those with higher priority are already assigned 8 2 2 Stable Marriage Algorithm In contrast to th
78. catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background IFU vignetted T or not vignetted F corresponds to M4_050 ARM11_SKA 162330 263314 40 65 199 207126 130001 930268 804353 345401 868197 us H H H name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background bright object s hitting the arm corresponds to M4_063 ARM13_SKA 162335 263222 1 200005 330000 652207 35 236 430353 940053 910817 9 we we e we we we we HH Hr FH FH OF OF we 3 name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background bright object s hitting the arm corresponds to M4_065 64 OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS KARMA User Manual ARM15
79. ciple run through the KARMA cycle again and again and prepare as many PAF files as you want But you need not necessarily do this instantaneously In case your catalogue is too large to finish all PAF files during a single session it is possible to interrupt KARMA VLT MAN KMO 146606 002 KARMA User Manual 4T work and to resume it later on Provided that you have saved the current state of your KARMA session by means of KMOS Save XML at the end of the last step you can at any time continue just at this point if you start a new KARMA session with KMOS Load XML via the main window menu Furthermore in the exceptional case of a computer crash you can recover your KARMA session from a temporary XML backup file which is stored under karma in your home directory It is however of temporary nature and will be deleted when you leave KARMA Only if you feel you are really ready you can exit KARMA either by from the control panel or via the main menu by Abort You then end up in the normal RTD mode see figure 30 If you close the main window you leave KARMA and RTD irrevocably But that s not all there is yet another possibility to restore a KARMA session The option is intended for the night time operator at Paranal to check whether the telescope and or instrument behave as the astronomer wanted them to behave It recreates only those settings which were finally stored in the PAF file namely the arm configur
80. ck acquisition from reference Back acquisition from science Mosaic END Main window closed Figure 30 State chart illustrating the different ways to start and finish a KARMA session and to switch between RTD and KARMA mode respectively On the right hand side the sequence of preparation steps is shown as substates of the KARMA mode Why does the cycle now doesn t start with step 1 again It is simply not necessary Your KARMA input catalogue already exists it is loaded and most important it is modified according to the actions you have performed during the previous KARMA cycle It makes no sense to start again from the very beginning For the same reason you need not and are not allowed to load another image or specify the bright objects again The cycle as it now starts with the selection of a suitable observation mode however can be repeated as long as you want If you now have a look at the main window you recognise that the already allocated targets have disappeared and only the remaining targets are still displayed The other ones have been removed from the internal copy of the catalogue Furthermore all potential telescope guide stars are available again for selection the formerly allocated reference targets are displayed as free Even in case there aren t any not allocated science targets anymore KARMA doesn t stop because you could be going to use the Mosaic mode In this way you can in prin
81. d bright object avoidance however the manual allocation mode offers a behaviour which is somewhat different to the one of the automatic algorithms By default the violation of these rules is still forbidden but you can ignore them explicitly You should of course know what you are doing then You get an appropriate warning in such a case and the information about this particular violation appears in the PAF file for vignetted arms as a simple flag for bright objects the catalogue ID of the brightest striking one and the total number are listed as a special entry for the misbehaving arm You can change the default behaviour no violation by means of the two checkbuttons in the Rules frame An enabled button here means that the respective constraint is handled just like by the automatic methods Arm positions violating the corresponding rule are not allowed at all If you are most probably going to allocate an arm to a target place the centre of its tip as close as possible to the centre of the target symbol in the main window and click Allocate The task remaining for KARMA is then to detect a sufficient proximity to the target and to snap into this position in order to avoid any dependency on the resolution of the graphical user interface In case of a successful allocation the corresponding symbol turns white as in the automatic modes the result table has counted one more allocated target and the arm is kept fixed at its posi
82. de Follow the instructions given in the corresponding subsection above then go back to the position and check if the just allocated arm has a suitable sky background there In this way you can iterate over your hopefully ever improving configuration again and again by resetting and reallocating arms both in the and in the Sky position Of course the whole process depends on the image quality and the cut levels you have set The data reduction pipeline however should be robust enough to cope with a somewhat suboptimal sky background as well 8 4 Creating hardcopies and finding charts You can save a snapshot of the current configuration as a PostScript file at any time It will look like in figure 20 On a single sheet of A4 paper such a hardcopy includes a screenshot of the currently visible area of the KARMA main window and a tabular listing of arm allocations The latter shows the numbers of allocated arms and the corresponding catalogue IDs of the assigned targets along with sky coordinates in RA and Dec and the type of the target In this way you can record your configurations in a nonelectronic format perhaps for the sake of later comparisons Simply click on the button You get a standard file dialogue where you specify the name of the yet to be created file Once saved in this format you can print or further process the file like any other PostScript file Note that the colours on paper particularly those of the screenshot need no
83. device system distance of arm tip from arm axis angular move of arm target priority target type reference magnitude as given in catalogue wavelength band as given in catalogue bright object s hitting the arm name id of catalogue entry target RA target Dec y position of arm tip in device system Z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type reference magnitude as given in catalogue wavelength band as given in catalogue IFU vignetted T or not vignetted F name id of catalogue entry target RA target Dec y position of arm tip in device system Z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type reference magnitude as given in catalogue wavelength band as given in catalogue bright object s hitting the arm name id of catalogue entry target RA target Dec y position of arm tip in device system Z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type reference magnitude as given in catalogue 58 OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS KARMA User Manual ARM8
84. dividual IFUs during data reduction KARMA opens up the possibility to combine up to 4 of these rectangular areas leading to an equivalent number of PAF files and OBs The positions of the individual mapping areas and hence the size of your super field the maximum dimension of which you can again see in figures 15 and 16 must be specified already during the current step then Please note that the IFUs are arranged symmetrically around the FoV centre Thus the telescope optical axis at the first pointing is located not at the upper left corner of the mapping area but in the middle of the IFU configuration In figure 15 this is between row 2 and 3 and column 3 and 4 respectively 26 KARMA User Manual VLT MAN KMO 146606 002 Figure 15 The size of the area grey covered by a single OB in Mosaic mode with the large configuration which requires 16 telescope pointings The red squares indicate the IFU positions at the start of the OB A combination of up to 2x2 of such fields is possible corresponding to an equivalent number of PAF files and OB s Figure 16 The small Mosaic configuration which requires 9 telescope pointings to cover the grey rectangular area Again the combination of up to 2x2 such fields is allowed VLT MAN KMO 146606 002 KARMA User Manual 27 7 4 Switching between the modes KARMA Control panel x wcl me ai u Step 4 Choose observing mode Observ
85. e ei Mode Science leran S S Catalogue Image Mode Science leran wore a Step 8 Check and save configuration Step 8 Check and save configuration Sky Acquisition Acquisition Sky i Sky Acquisition 2 Sky Dec Type Prio ups Prio nr ER 16 23 38 605 26 29 15 95 ola g 16 23 38 605 26 29 15 95 16 23 36 453 l 26 30 43 37 o 1 S 116 23 36 453 26 30 43 37 16 23 30 676 26 29 39 06 o E 16 23 30 16 23 30 676 26 29 39 JE o E 23 31 26 30 24 73 0 g 16 23 31 449 26 30 24 73 16 23 27 006 26 30 44 45 0 _ 16 23 27 006 26 30 44 45 0 4 L 16 23 33 974 26 31 12 66 o S 16 23 33 974 26 31 12 66 o 1 16 23 22 783 26 30 00 416 o E 16 23 22 16 23 22 783 26 30 00 aE o 4 16 23 33 023 26 31 34 76 0 1 16 16 23 33 023 33 023 26 31 34 766 1 16 23 21 150 26 31 59 89 o 4 E 116 23 21 150 26 31 59 IE o 1 16 23 31 959 26 31 45 74 o 14 E 16 23 31 959 26 31 45 74 o 1 FETRET Se E EERE 16 23 23 543 26 33 41 28 O 1 E 16 23 23 543 26 33 41 28 1 nieht Brite 16 23 34 772 26 31 35 00 4 E 16 23 34 772 26 31 35 00 Bl M4_007 16 23 27 082 26 33 29 gt o 1 C 16 23 27 082 26 33 29 Re o 4 PAF file nn ee nn p undefined Save KARMA_2013 12 02_NodToSky_M4_demo ins Back ort Figure 29 Summary of the arm allocations in the 4 telescope positions
86. e Hungarian Algorithm above the Stable Marriage Algorithm provides an alternative optimisation method which is better suited for more heterogeneous sets of targets It is based on a standard algorithm of optimisation theory too For the original reference see 6 The Stable Marriage Problem SMP in its usual form is the following Given a set of men and a set of women each set obviously replaceable by a set of any species objects etc and in particular targets and pick off arms find a set of marriages between the men and women so that all marriages are stable Stable in this context means that no pair across two marriages exists in which the two people of opposite sex prefer each other to their current married partners It can be proven mathematically that the SMP can always be solved so that all marriages are stable For the details of the solution algorithm the Stable Marriage Algorithm SMA we refer again to appropriate textbooks As a precondition for each member of both sets men and women or obviously targets and arms there is always a ranking list of all the members of the opposite set required Applied to the target arm assignment problem such an approach is clearly suitable for the incorporation of several constraints simultaneously In particular for the ranking of arms by targets the sorting according to the travel distance as in the Hungarian Algorithm is the most suitable criterion allowing for the collision constraint The
87. e contains more than 24 targets A In each cycle the allocation task depends on the chosen telescope pointing and the instru ment rotator angle Allowing for both of these continuously adjustable free parameters in an allocation algorithm would introduce too many additional degrees of freedom But even if such a huge complexity were manageable The sky background position complementing a certain target allocation can be obtained only interactively and hence cannot be part of an automatic algorithm Q KARMA complains that my catalogue contains DOS like carriage returns How could this happen and what shall I do now A Different operating systems have different conventions of how line endings in ASCII files are represented All Unix like systems including GNU Linux and Mac OS X use a single line feed LF n only This is also the expected line ending for catalogue files in KARMA On Windows like systems including MS DOS Microsoft Windows Vista etc however a combination of a line feed and a carriage return CR r is used You need not necessarily have prepared your catalogue on such a system it is sufficient to have sent it by email as an attachment via a Windows mail server and or relay Text files are usually converted into the format that follows the convention on the server then If one or the other case happens to you you can use the 10 dele 12 13 VLT MAN KMO 146606 002 KARMA User Manual 49
88. ed to OBs via the P2PP tool For the KMOS specific finding chart rules in Phase 2 OB preparation please consult the following web page http www eso org sci observing phase2 SMGuidelines FindingCharts KMOS html The corresponding RTD finding chart plugin can be invoked through the main menu File where it is in contrast to all other KMOS features kept for consistency and historical reasons The dialogue window that pops up figure 21 enables you to give additional information like PI name ID of observing run etc v Finding Chart information Run ID 0933 A 1234 A PI Name IK Moser List of OBs OB1 Band Wavelength EE of this chart Location of info top left corner d Text color black Redraw Save Print Clear Figure 21 The finding chart dialogue After having drawn the chart via Draw you can the plot in a jpg file that contains both the current pick off arm configuration and the information that you gave in the finding chart dialogue Additionally the orientation of the image with respect to RA and Dec is shown figure 22 In order to increase the visibility of the different graphic elements on top of the black and white image it might again be necessary to adjust their colours by means of the GUI preferences dialogue The latter can always be invoked via Preferences Finding charts can be created at any time during a KARMA session Thus you can also postpone this task until your setup i
89. ent one before you start preparing your observation 3 2 Building and installing KARMA from the source distribution KARMA is organised and distributed as a collection of source packages each of which is buildable like atypical GNU Autotools project KARMA as a whole can be built and installed by a dedicated script karmaBuild which in turn performs the standard GNU configure make make install sequence for all the comprised packages separately Then it creates a so called Starpack a single binary bundling a custom Tcl interpreter and the KARMA RTD code which is finally installed into the destination directory See figure 3 KARMA build Figure 3 The KARMA install process After having unpacked the karma_src lt version gt tar gz tarball you simply run the build script karmaBuild which performs all the remaining work for you The result is a KARMA installation comprising a single executable binary along with some supplementary files What you get via download is essentially a gzipped tar file karma_src lt version gt tar gz con taining all the KARMA as well as the RTD sources In addition the Tcl Tk 8 4 source packages along with several supplementary and extension modules are included lt version gt is the current version number of the KARMA distribution Apart from that for the installation you need VLT MAN KMO 146606 002 KARMA User Manual 9 e A PC with Linux installed The type of distribution should not matter but kernel
90. er motions if necessary KARMA Control panel KARMA Control panel Figure 10 The control panel before and after having loaded the example image M4 fits 20 KARMA User Manual VLT MAN KMO 146606 002 Now have a look at the control panel You see again the and buttons like in the previous step Their purpose with respect to the image should be self explanatory The lower part of the current control panel page is intended to give you an overview of size and position of the KMOS FoV with respect to the image once it is loaded Just try this out now and load the example image MA fits Your control panel now should look like in figure 10 Since KARMA scales the image automatically in such a way that it is fully visible it can take a few seconds until it gets displayed The main window then should look like in figure 11 Its display properties depend on the current RTD settings If colours appear too strange first try the RTD feature Auto Set Cut Levels try out different values for the lower and upper cuts they are subject to the KARMA history mechanism i e the cut levels will not survive if you go to a previous step or check the different options provided by the item of the main window menu bar You can also zoom in and out now by means of the RTD zoom buttons and z Explaining all the display capabilities of RTD is however beyond the scope of this manual Consult the RTD User Manual 1 in this case Remember also the possibi
91. es a special calibration mode It is intended for maintenance tasks only and requires a command line switch mode cal The equivalent switch mode std for the standard mode is the default and need not be given For more information on the KARMA calibration mode see the KARMA Programming and Maintenance Manual 4 VLT MAN KMO 146606 002 KARMA User Manual 11 KARMA 2 4 no image to v File View KARMA Control panel a Mee Same pent S She Step 1 Load catalogue Zoom L m Catalogue file Object undefined x I Catalogue entries Value GC B Equinox Min 0 Max 0 Bitpix Figure 4 Main window and control panel after the start of a new KARMA session 3 5 Adapting the graphical user interface To keep the handling of KARMA as simple as possible only a very limited number of user preference settings are available Nevertheless you have the opportunity to adjust colours line widths symbol sizes and to some degree fonts to your personal taste This may be particularly advantageous for presentations screenshots or in general for the sake of improving the display properties of a certain output device Furthermore some fancy intrinsic colour schemes provided by RTD may require a visibility improvement of the KARMA drawing items on top of the background image Figure 5 shows the two dialogue windows provided for such e
92. ese entries must be assembled in a plain ASCII file consisting of an arbitrary number of records rows each of which represents a celestial position of whatever type and contains the following data organised as columns Mandatory columns must appear in the order given below for each entry are e ID The name of the object or position This is any unique string of arbitrary length It must not contain spaces and shall otherwise consist only of alphanumeric characters A Z a z 0 9 ASCII hyphen minus and underscores e RA and Dec Right ascension a and declination 6 of the object or position Both decimal degrees and HH MM SS XXX for a or DD MM SS XX for 6 formats are accepted For all positions the usage of equinox J2000 is mandatory this information therefore needs not be pro vided explicitly The coordinates should however be corrected for proper motions if necessary According to the required positioning accuracy of KMOS the relative accuracy of all positions shall be better than 0 2 arcsec e Type Indicated by at least one or multiple character flags The following flags are defined catalogue entries of the respective type will be displayed in the KARMA main window with the corresponding symbols right O Scientific target Except for Mosaic mode see section 7 the catalogue should contain for obvious reasons at least the targets you are going to observe R Reference target For the main observation modes Nod
93. et RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background bright object s hitting the arm corresponds to M4_023 ARM18_SKY 162335 231158 263142 187968 1 801858 13 238750 260 681005 2 067842 ou F we we L we we we we H H H Hr H FH OF OF we 3 name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background IFU vignetted T or not vignetted F corresponds to M4_018 ARM19_SKY 162349 305226 263300 866502 117 601265 44 546625 144 354648 1 527625 MON T name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background bright object s hitting the arm corresponds to M4_043 ARM20_SKY 162338 401233 263156 887212 27 656731 18 528784 H name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system VLT MAN KMO 146606 002 OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS
94. f IS S EUROPEAN SOUTHERN OBSERVATORY Organisation Europ ene pour des Recherches Astronomiques dans l Hemisphere Austral QO Europ ische Organisation f r astronomische Forschung in der s dlichen Hemisphare ESO European Southern Observatory Karl Schwarzschild Str 2 D 85748 Garching bei M nchen Very Large Telescope KMOS KARMA User Manual Document No VLT MAN KMO 146606 002 Issue 2 4 2 December 17 2013 Prepared M Wegner Approved P Rees Released A Fairley II KARMA User Manual VLT MAN KMO 146606 002 This page was intentionally left blank VLT MAN KMO 146606 002 KARMA User Manual Ill Change Record Roason Remark 2012 05 30 Prepared for PAE 2012 07 11 Version after end to end tests and before PAE meeting 2013 05 15 New KARMA release prepared for Science Verification 2013 06 21 Screenshots and example PAF replaced 2013 08 27 Version number updated to new KARMA release after some bug fixes 2013 09 25 Version number updated to new KARMA release after new check for tab characters 2013 12 02 Allowed special characters in catalogue comments listed Recommendation added where system libraries required for KARMA build can be found Guide star entries in M4 example catalogue replaced by positions of 2MASS associated optical sources with R magnitudes Mechanism for enabling disabling of single arms described Bash men tioned as a build precondition Screenshots and example PAF replaced 2013
95. fore creating a completely new KARMA session by selecting from the KMOS submenu Just do this for the moment other start options from XML and PAF files will be explained in section 12 You are now in KARMA mode On top of the main window you see for the first time the KARMA control panel From now on this dialogue will be your exclusive interaction point The sequence of actions you perform with this panel will resemble a software installation tour and will guide you through the preparation steps figure 2 in a hopefully straightforward way By using the and buttons you can move between the different steps back and forth thereby gaining and losing exactly the information the current step and dialogue page were intended for to obtain The tabs at the top of each control panel page give you a limited access to the settings made in previous steps the change of which is however allowed only if it doesn t conflict with other settings you have made subsequently Furthermore you can always use the button to cancel the whole KARMA session You would then end up in the normal RTD mode again having the full RTD functionality available The latter is restricted to some very basic features during the KARMA session i e as long as the KARMA control panel is open to avoid possible confusion caused by an interfering behaviour of KARMA and RTD respectively In addition to the standard behaviour described in this manual KARMA provid
96. gs large offsets between science acquisition and sky positions increase the avoidance zone so you can try to decrease the offsets or you can supply additional guide stars with a modified input catalogue In both cases whether you like it or not you have to go back to the corresponding preparation step Q The telescope position that I find in the PAF file TEL TARG ALPHA and TEL TARG DELTA in Mosaic mode is different from my catalogue centre although I didn t apply any offsets in KARMA Why A Although an observation in Mosaic mode consists of a series of exposures at different telescope positions only the first pointing appears in the PAF file As the execution of a Mosaic OB always starts at the upper left corner of the mapping area the telescope position in the PAF file is thus the one that aligns the upper left IFU of the fixed arm configuration see figure 15 with this corner For the large Mosaic pattern this requires an offset of about 4 05 arcsec in both directions from the centre of the mapping area Q Why isn t it possible to restore a previously abandoned KARMA session from the PAF file alone A The PAF file is the one which goes into the OB Therefore only that information is included there which is absolutely necessary to carry out the observation The KARMA session state however includes much more information to store All not yet allocated targets for example not used guide stars actual settings of the user i
97. gt with several subdirectories will be created Change to this directory cd karma_src lt version gt 2 Now build and install KARMA Thereby the complete RTD package and all Tcl Tk modules are comprised automatically In the KARMA build directory karma_src lt version gt type karmaBuild lt karma_dest_dir gt The directory lt karma_dest_dir gt here denotes the directory where KARMA is to be installed into You must have read write permissions there In addition an absolute path is necessary but you can use environment variables like PWD or HOME Once you have successfully installed KARMA you can restore the initial clean state of the source tree by typing karmaClean The whole build process can take a few minutes since there are quite a few sources to compile Its standard output as well as possible error messages and warnings will always be logged in appropriate files in the log subdirectory If you omit the install directory lt karma_dest_dir gt and simply type karmaBuild you get a gzipped binary tarball karma_bin_ lt machine gt _ lt os gt _ lt version gt tar gz created in the current directory which can be unpacked and installed as described in the following subsection 3 3 3 The bin subdirectory of lt karma_dest_dir gt contains the single executable karma If you don t want to call karma via its absolute path you should include the bin subdirectory into your PATH environment variable If you now call
98. hter than 12th magnitude in R as well as otherwise suitable for this purpose particularly they should be corrected for proper motion is your task Although the final selection of the actually used guide star will be made by the night time operator at Paranal you must specify a set of up to 5 potential ones already now The upper limit of 5 is given by the Telescope Control Software Fortunately you have hopefully defined quite a few of them in your KARMA catalogue remember section 4 You can however quickly verify that not all of them are available anymore Just have a look at the main window figure 26 All the still existing symbols indicating a potential guide r E Zoom Object Ma HIS X 3265 0 Y 13752 0 16 23 13 607 B 26 25 01 50 Equinox 2000 Min 3 11082 Max 390 099 Bitpix 32 Low 3 10894 T High Auto Set Cut Levels Scale 1 8x Z z select object E scroll image 2 measure WCS Control select region G image Figure 26 The main window ready for telescope guide star selection The translucent area depicts the guide star avoidance zone star the saltires of whatever colour are located outside a certain avoidance zone indicated by a translucent shading The reason for this is the finite size of the guide probe which shall not
99. ibration of the instrument on sky In the context of this manual they should be suitable as tutorial examples All three images were created from a mosaic of image tiles taken from the 2MASS image server http irsa ipac caltech edu applications 2MASS IM by means of the SWarp tool http www astromatic net software swarp the catalogues are assembled from the 2MASS online cat alogue In the following sections the M4 example will be used for the tutorial 14 KARMA User Manual VLT MAN KMO 146606 002 4 Step 1 Prepare and load catalogue As already mentioned to fulfil its main purpose KARMA requires a dedicated catalogue of positions for science and reference targets which you must prepare in advance and which you are fully responsible for especially for using an appropriate and consistent astrometric reference system In particular this applies to the positions of potential telescope guide stars which you have to provide along with the target list and which possibly could be derived from another source than the targets are usually from a public domain guide star catalogue Additionally the KARMA catalogue can include previously defined and checked sky background positions as well as the positions of bright objects to be avoided by pick off arms because of stray light problems In any case the input catalogue must include an initial centre position which is used as a reference point for all virtual telescope movements with KARMA All th
100. ic mode the tab con tains the same information as the tab The same applies to the dedicated sky position to be used in acquisition If you don t have specified any the default position will be displayed At this point you have by the way again and for the last time occasion to create your finding charts Just switch to the tab whose configuration you are going to plot invoke the finding chart plugin via the menu and the JPEG file s Once you are happy with your setup you can now finalise your current KARMA cycle by creating the PAF file that shall be appended to the OB later on Use the button for this purpose The standard file dialogue that pops up already suggests you a file name containing the date of creation and the observation mode You need not adhere to this default suggestion and can choose whatever file name you like the extension ins however is mandatory But since in the P2PP tool you will later have to select the proper observation template according to the mode you have chosen in step 4 it is strongly recommended to include the appropriate information already in the PAF file name Please note also that this name is written into the file itself and will appear in the P2PP GUI exactly as it was chosen initially regardless of whether you rename the file later on It is therefore not recommended but not forbidden to change the names of PAF files afterwards your file now As it is plain ASCII you might want to have a lo
101. ight emanating from the metallic surfaces of the pick off arms these shall not be placed at positions of bright sky objects In addition to the possibly already provided coordinates of such objects along with the input catalogue you have the option to identify additional objects querying the 2MASS online catalogue KARMA displays the locations of those objects on the image See section 6 At the time of writing no other platform is supported Particularly there is no KARMA for Windows or Vista D KARMA User Manual VLT MAN KMO 146606 002 KARMA Session Predefined catalogue j Load Loa 2MASS Speer catalogue Identity brigh Finding chart required Nod to Sky LX Stare or Mosaic Finding chart JPEG Session state shall be stored separate acquisition step necessary acquisition possible from science config KARMA session file XML Configuration file PAF igned ssigned NG targets still available all targets a Q Figure 2 The typical sequence of steps in a KARMA session Finding charts and XML files can be created optionally at any time 4 According to the envisaged type of observation you select the observation mode See section 7 for an explanation of the 3 possible modes Nod to Sky Stare and Mosaic 5 This is the main step and the actual KARMA task section 8 a You fix telescope position and instrument rotator angle a
102. imilar to figure 11 you are done with this step and you can go to the one What can go wrong If the image does not cover the KMOS FoV completely you will get a warning but KARMA will accept the image anyway If however the image does not even overlap with the FoV you have probably chosen the wrong one or the WCS header information is wrong It will be useless and therefore be rejected 22 KARMA User Manual VLT MAN KMO 146606 002 6 Step 3 Identify bright objects As already mentioned in section 4 where you have prepared your catalogue the metallic pick off arm surfaces can cause stray light contaminating the frames taken by other arms Therefore it shall be avoided at least to place the upper level arms at positions where they can be hit by very bright sky objects Thus KARMA must know these objects beforehand to take them into account during arm and target allocation respectively Complementing those positions which were already provided along with the input catalogue ad ditional ones now can be defined by querying the 2MASS online catalogue server at http irsa ipac caltech edu applications Gator automatically To a certain extent this step is therefore an optional one You can skip it if you think your bright object list is already sufficient or if you don t care about bright objects at all Otherwise you are allowed to specify a search radius and a limiting magnitude for the J band here the 2MASS server will then provide yo
103. ini Dan Popovic Suzanne Ramsay Myriam Rodrigues Roberto Saglia Ivo Saviane Jorg Schlichter Linda Schmidtobreick Alex Segovia Stella Seitz Ray Sharples Lowell Tacconi Garman David Wilman and Emily Wisnioski for helpful suggestions and discussions Thanks also to Claus Gossl and Josef Richter for the provision of their Mac computers during the development phase Finally the 2MASS catalogue query feature of KARMA makes use of the NASA IPAC Infrared Science Archive which is operated by the Jet Propulsion Laboratory California Institute of Technol ogy under contract with the National Aeronautics and Space Administration 4 KARMA User Manual VLT MAN KMO 146606 002 2 An overview of KARMA 2 1 The role of KARMA within the VLT Data Flow System As for any other VLT instrument you have to prepare KMOS observations in advance thereby following the general concept of the VLT Data Flow System Figure 1 shows the main steps in the chain of tasks from the initial observation idea until the final publication of the scientific results obtained from the reduced data Observation with KMOS Phase 1 Phase 2 Program Post proposal prep observing preparation execution observation el REI for objective observing time Phase 1 P i Do proposal ie science EAG Science data E rn 3 product repare PAF file s Observation Reduce Block s data Observation block s Execute daytime q calibrations R Execute 1 OB s l
104. ition At rotator angle 0 these are equivalent to shifts in RA and Dec respectively You can check your settings in the main window where the corresponding rectangles get displayed Even if Nod to sky and Stare mode the sufficient number of reference targets for these modes is by the way checked here may appear very similar and require almost the same actions in the subsequent steps once you have chosen a particular mode you cannot change it anymore unless you go back to step 4 In a second KARMA cycle however you start again with this step see section 12 and you can proceed with a different mode To go on with the M4 example choose Nod to sky and click Next 28 KARMA User Manual VLT MAN KMO 146606 002 8 Step 5 Define arm configuration for science observation Now after all these necessary preliminaries you eventually have reached the most important step of the whole KARMA session The pick off arm allocation itself For this reason the main window except for the Mosaic mode now shows all 24 arms in their rest position As you probably remember from the KMOS User Manual 2 they are located in two planes 12 arms each Therefore they are coloured differently blue for the bottom layer and green for the top one If you want to disable particular arms deliberately and thereby exclude them from the allocation process you can do that as described in subsection 3 6 In step 5 you have to perform three tasks 1
105. karma from any directory the KARMA main window should open up 10 KARMA User Manual VLT MAN KMO 146606 002 3 3 Installing a KARMA binary distribution For a number of target platforms precompiled KARMA binary releases are available Their installation is very simple 1 Unpack the KARMA package with tar fvxz karma_bin_ lt machine gt _ lt os gt _ lt version gt tar gz A directory karma_bin_ lt machine gt _ lt os gt _ lt version gt with subdirectories bin data config and doc will be created While the KARMA executable karma resides in bin the example data can be found in data and this manual in doc 2 Change to the top level directory cd karma_bin_ lt machine gt _ lt os gt _ lt version gt 3 Add the bin subdirectory to your PATH The installation was successful if you can start KARMA by invoking the bin karma executable 3 4 Starting KARMA If not already done run karma to start KARMA It is probably recommendable to do this in a dedicated KARMA working directory where you collect your catalogue image and output files After the RTD main window got opened you are now in RTD mode and can use all RTD features in their usual way The only differences you may recognise are the entry in the main menu and the 24 square windows on the right hand side their purpose will be explained later You have now different options to start a KARMA session For the time being we will assume that you are going to start from scratch there
106. kground HIT bright object s hitting the arm COMMENT corresponds to M4_003 NAME ARM10_SKY name id of catalogue entry ALPHA 162331 667785 target RA DELTA 263127 076161 target Dec Y 27 154333 y position of arm tip in device system Z 8 115968 z position of arm tip in device system R 241 824131 distance of arm tip from arm axis THETA 0 685539 angular move of arm TYPE S target type sky background VIGNET F IFU vignetted T or not vignetted F COMMENT corresponds to M4_015 NAME ARM11_SKY name id of catalogue entry ALPHA 162322 200362 target RA DELTA 263306 884540 target Dec Y 93 349859 y position of arm tip in device system Z 75 874015 z position of arm tip in device system R 149 789253 distance of arm tip from arm axis THETA 1 288059 angular move of arm VLT MAN KMO 146606 002 OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS ARM11 ARM11 ARM11 ARM12 ARM12 ARM12 ARM12 ARM12 ARM12 ARM12 ARM12 ARM12 ARM12 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM14 ARM14 ARM14 ARM14 ARM14 ARM14 ARM14 ARM14 ARM14 ARM14 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15
107. length band as given in catalogue IFU vignetted T or not vignetted F name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type science magnitude as given in catalogue wavelength band as given in catalogue 69 TU OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS KARMA User Manual ARM15 ARM15 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM17 ARM17 ARM17 ARM17 ARM17 ARM17 ARM17 ARM17 ARM17 ARM17 ARM17 ARM17 ARM17 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM18 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 ARM19 SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI ALPHA DELTA me my A R THETA PRIOR SCI MAG BAND VIGNET COMMENT SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI HIT COMMENT NAME ALPHA SCI Y iL R THETA TYPE VIGNET COMMENT cor
108. lity to adjust symbol sizes and colours by means of the KMOS menu in case of bad visibility z Zoom Object 1M4 fits x 2434 0 Y 13006 0 Value 3 54757 16 23 25 975 B 26 27 30 78 Equinox 2000 Min 3 11082 Max 390 099 Bitpix 32 Low 3 10894 T High Auto Set Cut Levels Scale 173 z z Figure 11 The main window after having loaded the example image M4 fits Suitable display properties have been achieved by adjusting the cut levels The alignment of the KMOS FoV with respect to the image will be carried out simply by deter mining the image pixel corresponding to the catalogue centre position this is one of the reasons why VLT MAN KMO 146606 002 KARMA User Manual 21 you had to provide it from the FITS header assuming that the appropriate WCS header keywords are present The KMOS FoV will then be drawn at this position In addition it will be rotated so that the instrument coordinate system is aligned with the axes of right ascension and declination You don t need to care about this but it might be useful to know that an image alignment with a and is not necessary The lower part of the current control panel page indicates the orientation of the image with respect to the sky coordinates If your control panel looks like figure 10 and the main window s
109. lk through the tasks covered by this control panel page from top to bottom So a fixed telescope position and fixed rotator angle are a precondition for the allocation Moreover you can switch to the step only if you have fixed these settings both for the and the VLT MAN KMO 146606 002 KARMA User Manual 29 Sky position and panel tab This is anyway not possible without having allocated at least a single target The several activities to undertake the different options you have and the underlying allocation algorithms are explained in more detail in the next subsections 8 1 Fixing telescope position and instrument rotator angle In the labelled frame Telescope position rotator angle you find on the left side a panel of buttons With the arrow buttons you can move the telescope virtually of course in direction of increasing and decreasing right ascension left and right and declination up and down respectively These directions need not necessarily coincide with the image axes Most images however will be oriented along RA and Dec though In these cases the KMOS mask will as the buttons suggest be shifted indeed left right up and down respectively Just try this out The step size in both directions is fixed to 2 5 arc seconds You can also edit the RA and Dec fields directly Starting with the default telescope pointing given with your catalogue centre you must find now the most suitable position for your observation In
110. m distance of arm tip from arm axis angular move of arm target priority target type reference magnitude as given in catalogue wavelength band as given in catalogue bright object s hitting the arm name id of catalogue entry target RA target Dec y position of arm tip in device system Z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type reference magnitude as given in catalogue wavelength band as given in catalogue bright object s hitting the arm name id of catalogue entry target RA target Dec y position of arm tip in device system Z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type reference magnitude as given in catalogue wavelength band as given in catalogue IFU vignetted T or not vignetted F name id of catalogue entry target RA VLT MAN KMO 146606 002 OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS ARM5 ARM5 ARM5 ARM5 ARM5 ARM5 ARM6 ARM6 ARM6 ARM6 ARM6 ARM6 ARM6 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARMS ARMS ARMS ARMS ARMS ARM8 ACQ ARMS ACQ ACQ ARMS ACQ
111. n Mosaic mode things are slightly different You probably need the shift and rotate buttons to place the outlining mask at the position you want KMOS to observe a contiguous field and to give it the proper orientation on sky Anyway if you think you are done press click the button with the closed padlock in the lower right corner of the button panel Once fixed you can t change the just made settings anymore unless you release the button panel again through the open padlock This is in principle always possible but you must not have allocated arms yet You have to do the same steps again when looking for the sky background position See the related subsection 8 3 below 8 2 Allocating the pick off arms The main task of KARMA is to create a feasible and efficient assignment of pick off arms to scientific targets Considering the several science cases driving the development of KMOS a typical catalogue prepared for a KMOS observation will contain from a few dozens up to approximately 100 of such science objects These can as already mentioned be prioritised ranking them from class 1 to 3 with decreasing priority 1 being the highest The goal of any arm allocation method therefore must be to maximise the number of highest priority targets assigned to pick off arms thereby leaving as few arms as possible unallocated This is essentially a combinatorial problem Unfortunately even for a comparatively small catalogue of 24
112. n to specify a dedicated acquisition configuration Arms configured for Acquisition Arms configured for Science 7 7 L bo arms on _ arms on L l F i g reference targets science targets Ee L Telescope at Science position c Q UT O Q Le Q 2 u I o O lt Iw oO G O U UT 2 Telescope at Sky position Telescope at Sky position Figure 24 Acquisition from reference targets Two additional telescope positions left complement the already defined ones for the science observation right During OB execution KMOS will then allocate the arms you have specified to the corresponding reference targets telescope and instrument will be aligned for this configuration Then the arms will be retracted again and finally deployed to their science positions To accomplish this preparation task KARMA provides the same control panel page as in step 5 Again you have to define the telescope position and instrument rotator angle first by means of the dedicated button panel in the upper part The default position is now the one you have defined in the previous step for the science configuration If there are enough reference targets symbolised by the diamonds of whatever colour within the field of view you don t need to change it At least 2 of them are required Allocate reference targets with a method of your choice by and if necessary Reset The statistics frame again show
113. ne The arms however are actually located above and below it Therefore their tip mirrors see a somewhat diverged beam and partial vignetting can occur even in cases when it seems not to be so In other words The shadow of an upper arm is larger than its outline drawn by KARMA suggests KARMA takes this effect into account Q Does the exact position of a manually allocated arm depend on the accuracy of its manual placement in the KARMA main window and because of that possibly even on the screen resolu tion A No If you got the tip centre close enough to the envisaged target KARMA detects a sufficient proximity at allocation time i e when you press Allocate and gives the arm the exact target position as it appears in the catalogue Depending on the screen resolution and the zoom settings 50 14 19 16 17 18 KARMA User Manual VLT MAN KMO 146606 002 also a slight shift of the arm outline may be visible Either way you recognize that an allocation was successful by means of the changed symbol colour of the assigned target Q There is no guide star available for selection anymore although I have specified quite a few in the input catalogue What can I do A In this case all your potential guide stars are located within the avoidance zone consisting ofthe KMOS FoV s at the 4 telescope positions and an additional margin allowing for the finite size of the guide probe You can either modify the telescope pointin
114. ntention of this document which is predominantly aimed at users and not at maintenance staff In case you belong to the latter see also the complementary KARMA Programming and Maintenance Manual 4 1 2 Abbreviations and acronyms Not surprisingly for a technical manual throughout the text a number of acronyms and abbreviations appear 2MASS Two Micron All Sky Survey ASCII American Standard Code for Information Interchange Dec Declination 7 KARMA User Manual VLT MAN KMO 146606 002 ESO European Southern Observatory FAQ Frequently Asked Question s FIMS FORS Instrument Mask Simulator FITS Flexible Image Transport System FoV Field of View GNU GNU is Not Unix GUI Graphical User Interface HTML HyperText Markup Language IFU Integral Field Unit JPEG Joint Photographic Experts Group KARMA KMOS Arm Allocator KMOS K band Multi Object Spectrometer OB Observation Block P2PP Phase 2 Proposal Preparation PAF Parameter File PI Principal Investigator RA Right Ascension RTD Real Time Display TBD To Be Defined USM Universit tssternwarte M nchen University Observatory Munich VMMPS VIMOS Mask Preparation Software VLT Very Large Telescope WCS World Coordinate System XML Extensible Markup Language 1 3 Stylistic conventions In order to highlight certain words sentences or paragraphs this manual uses the following typo graphical conventions italic To emphasise something monospace For examples in particular f
115. nterface and much more All this additional information would require additional keywords and pollute the PAF file unnecessarily Q Is it possible to edit the PAF file manually after it has been generated A According to Radio Yerevan http en wikipedia org wiki Radio_Yerevan_jokes In principle yes But your file will be corrupted then because the automatically generated checksum doesn t match the content anymore Although KARMA can repair the file you possibly run into other problems So don t do that editing the PAF file is evil Q What happens if a certain hardware component a pick off arm or grating for example gets broken between the submission of my OB and the actual observation Are the corresponding target allocations lost A Shit happens Depending on the type and number of broken components the corresponding pick off arms will be locked and are not available for observation anymore However there will always be an attempt to keep the most important target allocations also in case of such a hardware failure For this purpose the rotational position of the instrument will be optimised just before the OB execution so that a maximum of priority 1 targets can be observed with the then still available arms VLT MAN KMO 146606 002 B Example catalogue Prepared FHrHr Hr Hr FH FH OF OF O FOF FH OF OF OF OF OF OF M4_000 16 M4_001 16 M4_002 16 M4_003 16 M4_004 16 M4_005 16 M4_006 16 M4_007 16 M4_008 16
116. o additional action is necessary during observation preparation in this case KARMA would have detected this and skipped the current step entirely At the time of OB execution KMOS will take an acquisition exposure with the pick off arms already at their final positions to be used for the science observation figure 23 This is the one you prepared in step 5 Arms configured for Science arms on science targets Cc 2 UT O G oO Q gt U LB Iu QU G O O Ww u oO l N _ hd r 7 6 en 2 S arms on l Telescope at Sky position Figure 23 Acquisition from science targets Some of them yellow bullets among the red ones are suitable as reference targets If you now realise that it could have been possible to allocate additional reference targets already in the previous step you can always go and modify your science configuration accordingly Avoid ing an extra acquisition configuration and doing the alignment by means of the science configuration is always preferable as it saves valuable observing time A special case is the Mosaic mode Due to its nature it doesn t need a very accurate positioning of telescope and instrument and hence it doesn t require an acquisition step at all KARMA will skip the entire step 6 also in this case VLT MAN KMO 146606 002 KARMA User Manual 39 9 2 Acquisition from reference targets If none of the cases above applies you are called upo
117. object s hitting the arm corresponds to M4_007 ARM14_SKY 162334 263144 O 15 254 499255 929239 698100 583987 071881 368113 Su F T name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background IFU vignetted T or not vignetted F corresponds to M4_013 ARM15_SKY 162332 263403 12 98 175 054434 159397 183825 446602 162857 154085 nso we we e we we we we HH Hr HF OF OF OF we name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background bright object s hitting the arm corresponds to M4_004 M4_027 name id of catalogue entry 162336 534000 target RA 76 OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS KARMA User Manual ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM17 ARM17 ARM17 ARM17 ARM17 ARM17 ARM17 ARM17 ARM17
118. ok at it and check again if everything looks well You should however refrain from editing the file in any way The P2PP tool will not accept it in this case because of a wrong checksum In Mosaic mode it may happen that several PAF files up to 4 are created automatically according to the size of the contiguous field you have selected in step 4 The file name s then contain the position within the Mosaic super field through an additional index See section 7 for reference Now having created a PAF file and possibly one or more finding charts in principle you are done with KARMA You could choose to Finish then exit RTD and continue preparing your OB s with the P2PP tool The usage of the latter where you will need the just created file as well as you must remember the observation mode is beyond the scope of this manual See the P2PP manual 3 for this purpose If you want to recheck again whether everything is well with your PAF file s before using the P2PP tool you can reload your file s into KARMA after having finished the current session Do this by means of see next section 12 for more details In case of severe defects wrong checksum missing additional string quotes etc KARMA rejects the file and indicates that something went wrong For the time being however if there are remaining targets in your catalogue to be allocated in a further step you can run through a second KARMA pass and do the steps from 4 to 8
119. olour fields of the GUI preferences dialogue left with respect to the instrument y z coordinate system also the drawn grid is kept fixed In this way it is guaranteed that the grid lines are always parallel to the IFU boundaries You can change the grid spacing by means of the arcsec spinbox only by clicking on the small arrow buttons Furthermore you have the option to draw the outlines of the pick off arm safety margin and its shadow for upper arms as they are used by the internal permissibilty checks this applies only to those steps where the arms are visible though Select the checkbuttons Margin and Shadow in frame Arms for this purpose Arm numbers get displayed if you select the checkbutton Numbers Changing the line width upper right part affects all drawn lines except those of the grid To avoid confusion it is not possible to change the meaning of a symbol although its size can be adjusted upper right part The symbol size does not change with zoom Anyway the RTD zoom buttons and fz will be available only if an image is loaded In what concerns fonts it is possible to adjust family and size of those fonts which are used in the KARMA control panel Edit the file appdefaults in subdirectory config for this purpose appropriately 3 6 Disabling of single pick off arms By default all KMOS pick off arms are initially available in a KARMA session If for technical reasons a single one or even some of them are delibera
120. opposite ranking of targets by arms however can be made easily according to the target priority thereby sorting the subsets of targets with same priorities again with respect to the travel distance Impossible pairings exceeding the maximum travel can be excluded right from the start Applying this idea to the fundamental optimisation problem a stable pairing between targets and arms can be obtained as follows 1 Create preference lists for targets and arms For each arm sort all targets according to their priority and then according to their distance from the arm axis For each target sort all arms according to their axis distance Discard list entries which would belong to an impossible pairing VLT MAN KMO 146606 002 KARMA User Manual 33 2 Begin with any of the targets and assign the pick off arm which is highest ranked for this particular one 3 Take the next target and try to assign the highest ranked arm for this second target If the corresponding arm is already assigned compare its ranking for the current second target with the ranking of the target to which it is assigned the first one In case the affinity to the current target is higher than to the already matched one disconnect the existing assignment and assign the arm to the current target The target which was previously assigned to the same arm is now available again In case the existing assignment is stronger take the arm which is next in the ranking and try the s
121. or input you are advised to type lt replace gt Denotes something to be substituted with actual content link Internal or external links either references to sections or figures and email addresses or URLs respectively are coloured blue For GUI buttons to press For menu items to select If more than one of these items appear in a sequence then it is suggested to select them one after the other For tabs in GUI dialogues sans serif For all other GUI labels referred to within the running text 1 4 Reference documents Although this manual attempts to be self contained as far as possible occassionally it is necessary to refer to one of the following documents papers and books where additional or complementary information can be found VLT MAN KMO 146606 002 KARMA User Manual 3 1 VLT MAN ESO 17240 0866 RTD User Manual http archive eso org skycat docs rtd 2 VLT MAN KMO 146603 001 KMOS User Manual See also link in subsection 1 5 3 VLT MAN ESO 19200 5167 P2PP User Manual See also link in subsection 1 5 4 VLT MAN KMO 146606 003 KARMA Programming and Maintenance Manual 5 Kuhn H W The Hungarian Method for the assignment problem Naval Research Logistics Quarterly 2 1955 83 l6 Gale D Shapley L S College admissions and the stability of marriage American Mathe matical Monthly 69 1962 998 1 5 Web links and contact information Additional information can be found at www
122. ose details 8 2 1 Hungarian Algorithm The allocation by means of the Hungarian Algorithm is based on a standard method in mathematical optimisation theory for the original paper see 5 The basic principle here consists in the assignment of any m objects of one set to any n objects of an other set by minimising maximising the total cost of the assignment regarding a special optimisation criterion Formally for a given cost matrix C11 C12 Cin C21 C22 Con C 1 Cm1 Cm2 Cmn a corresponding assignment matrix X with x 0 1 must be found in such a way that m n Z gt H Cij Lij min i 1 j 1 VLT MAN KMO 146606 002 KARMA User Manual l KARMA 2 4 M4 fits EEE EEE E a en a E a da a da da da da da da di K K Mh a i oa EEEE Edd E Zoom Object Mdfits x 19180 y 26520 value 7 39542 16 23 33 660 B 26 28 41 60 Equinox 2000 Min 3 11082 Max 390 099 Bitpix 32 Low 3 10894 High 50 Auto Set Cut Levels Scale 1 3x Z z i image select object scroll image measure WCS Control select region Figure 19 The main window after automatic allocation with Hungarian Algorithm Arm 16 has been allocated manually at Sky position In the case of the target arm assignment problem the optimisation criterion and hence the cost matrix can be found in the sum over the distances from the pivot axis of e
123. our from steps 1 and 3 If the other way around you click on a symbol the corresponding list item gets highlighted accordingly Just try these functions out and select your guide stars A single selected one is of course the minimum and the order of selection is indicated by the priorities visible now in the bottom part of the control panel page Since this is also the order in which the guide star candidates will be chosen by the telescope operator you should ensure that the most suitable one appears at the top When you are done go to the step 44 KARMA User Manual VLT MAN KMO 146606 002 11 Step 8 Save configuration PAF file Now that you have almost completed your work it s time to have a final look at what you have accomplished For this purpose the control panel figure 29 gives you the opportunity to examine the pick off arm configurations again and to check whether everything appears as it was intended If not you have always the possibility to go to the appropriate steps where you can correct your previously made allocations and or other settings In addition you have access to all previous steps by means of the tabs at the top of the control panel but you can change only a few things in this way In the current step i e via the current control panel page you can check all the 4 telescope positions KARMA Control panel B vil KARMA Control panel Bright Guide Check Bright Guide Check Catalogue Imag
124. responds to M4_027 DELTA NAME ALPHA DELTA Y ool R SCH PRIOR TYPE MAG BAND ALT COMMENT THETA NAME TYPE NAME SCI SCI iL R THETA PRIOR ALPHA DELTA ARM16_SCI 162338 263404 22 209 179 4 226244 210032 152307 300987 543384 378733 9 we we we we we we we we we H H Hr H FH OF OF F M4_023 162336 263229 9 wie 237 587000 450000 260292 741969 959456 178506 1 o 10 54 J M4_090 M4_018 162335 263154 1 i Ee 260 639000 480000 801858 238750 681005 067842 1 g 9 87 nn F M4_043 162350 263247 117 44 144 i 358000 830000 601265 546625 354648 527625 1 3 we we we we we we we we we we we we we we we we we we we we we FHHr H Hr FH OF HF OF OF OF OF H HH HH FH FH OF OF VLT MAN KMO 146606 002 bright object s hitting the arm name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background IFU vignetted T or not vignetted F name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm
125. rget type magnitude as given in catalogue science wavelength band as given in catalogue bright object s hitting the arm name id of catalogue entry target RA target Dec VLT MAN KMO 146606 002 OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS ARM12 ARM12 ARM12 ARM12 ARM12 ARM12 ARM12 ARM12 ARM12 ARM12 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM14 ARM14 ARM14 ARM14 ARM14 ARM14 ARM14 ARM14 ARM14 ARM14 ARM14 ARM14 ARM14 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 ARM15 SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI Y ool R THETA PRIOR SCI MAG BAND VIGNET COMMENT TYPE NAME ALPHA SCI me mys R THETA PRIOR TYPE MAG BAND HIT COMMENT DELTA NAME ALPHA DELTA SCI sA R THETA PRIOR TYPE MAG BAND VIGNET COMMENT Y NAME ALPHA DELTA RA SCI R THETA PRIOR TYPE MAG
126. rmation about the supported platforms and available binary versions http www eso org sci observing phase2 SMGuidelines KARMAInstall html Regardless of that aKARMA for Windows Vista will probably never exist for technical reasons Q When I try to build it from the source package KARMA complains about a missing library Where can I get the required one A First check if one of the pre compiled KARMA binary packages might possibly be suitable for you If not search via your Linux package manager for example the RPM one that is used in many GNU Linux distributions for the missing library and if not yet installed install it The static stdc library can for instance usually be found as package libstdc static or libstdc 6 lt version gt dev In general KARMA is designed in such a way that only a minimum of possibly platform dependent prerequisites are necessary Q Why can t I use the intrinsic Skycat RTD feature XY while I m in KARMA mode A To avoid the possibility of getting confused by too many features in too many open windows the RTD functionality available in KARMA mode was restricted to the absolute minimum All you really need is available through the central KARMA control dialogue If you want to use a certain RTD Skycat feature abort the KARMA session and switch back to RTD mode Q Why isn t it possible to optimise the total allocation efficiency over multiple KARMA cycles automatically in case the KARMA catalogu
127. ry Large Telescope This manual attempts to assist you in this process as good as possible Good luck 1 1 Audience prerequisites and organisation of this manual Most probably you are an astronomer who has been granted observing time with KMOS and who now aims to configure the instrument for an observation as profitable as possible Or maybe you are a member of the VLT operating staff or any other person who just wants to know what this KARMA is all about Either way you should already be familiar with the general KMOS concept and the capabilities of this elaborated instrument If not you should read the KMOS User Manual 2 first It is also assumed that you at least have a clue about the VLT Data Flow System that you know the purpose of the P2PP tool and that you are familiar with the concept of Observation Blocks OBs and Templates In case you are not please skim through the P2PP User Manual 121 and the KMOS Phase 2 web pages see section 1 5 before you continue reading this document A deeper knowledge of RTD or of the probably better known RTD extension Skycat which the KARMA tool is based on however is helpful but not really required as the RTD handling can be understood more or less intuitively Nevertheless a look into the RTD User Manual 1 isn t completely senseless You find it online at http archive eso org skycat docs rtd The plan for the following sections is as follows To begin with chapter 2 gives an overview of KAR
128. s complete i e until step 8 section 11 If eventually you are done with the current step 5 go on and enter the one VLT MAN KMO 146606 002 KARMA User Manual 37 Figure 22 KARMA finding chart in JPEG Apart from the current pick off arm configuration some additional information is plotted here Colours have been adjusted appropriately 38 KARMA User Manual VLT MAN KMO 146606 002 9 Step 6 Define arm configuration for acquisition This step if necessary at all see the subsections below essentially requires the same actions as the last one It is meant for the preparation of a special arm configuration to be used for the alignment of telescope and instrument the acquisition just before the science observation For this purpose a set of reference targets preferentially brighter than 14th magnitude in J shall be observed with a short exposure time so that the high level instrument control software can calculate and correct for possible deviations of the actual from the nominal telescope position and instrument rotator angle Your task is to allocate enough arms to the reference targets which you had provided along with your catalogue 9 1 Acquisition from science targets If at least 2 of the science targets allocated during the last step are bright enough to be suitable for acquisition i e if they were marked as OR in your input catalogue and if they were actually assigned to pick off arms everything is fine N
129. s the result Don t bother about the science target allocations which may possibly be counted simultaneously They belong to the catalogue entries marked as OR Anyway the IFU windows on the right side of the main window should prove that the targets you allocate are really bright Depending on the setting of the cut levels usually the whole window is oversaturated figure 25 bottom Don t care about this it s only the display and or the poor resolution of the M4 example image Regarding the sky position it is in contrast to the previous step not really necessary to specify one A default offset of 10 arcsec in direction of increasing Dec and with respect to the position is already predefined It provides for a blind telescope offset during the actual acquisition and should be sufficient in terms of data reduction since the reference targets are bright enough compared to background signal Although it doesn t need to be defined explicitly but you can do it the sky position is nevertheless required to be fixed in the Sky tab Then go to the step 40 KARMA User Manual VLT MAN KMO 146606 002 Catalogue Image Mode Science Acquisition Catalogue Image Mode Science Acquisition Step 6 Define arm configuration for Acquisition Step 6 Define arm configuration for Acquisition C4 Sky Acquisition Sky position position position position
130. se arms T or just park F Potential Instrument Guide Stars TEL GS1 ALPHA 162321 030000 RA TEL GS1 DELTA 263711 580000 Dec TEL GS1 MAG 9 70 magnitude as given in catalogue 0CS GS1 BAND R wavelength band as given in catalogue VLT MAN KMO 146606 002 TEL DEI TEL OCS TEL TEL TEL OCS TEL TEL TEL OCS GS2 GS2 GS2 GS2 GS3 GS3 GS3 GS3 GS4 GS4 GS4 GS4 ALPHA DELTA MAG BAND ALPHA DELTA MAG BAND ALPHA DELTA MAG BAND ALPHA DELTA 162314 263605 162353 262644 162406 262817 162301 262330 430000 540000 10 50 R 890000 240000 11 15 R 540000 720000 11 60 RU 210000 710000 9 O R Bright objects in field OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS BRGH1 BRGH1 BRGH1 BRGH1 MAG BRGH1 BRGH1 BRGH2 BRGH2 BRGH2 BRGH2 MAG BRGH2 BRGH2 BRGH3 BRGH3 BRGH3 BRGH3 MAG BRGH3 BRGH3 BRGHA BRGHA BRGHA BRGH4 MAG BRGH4 BRGH4 NAME ALPHA DELTA BAND COMMENT NAME ALPHA DELTA BAND COMMENT NAME ALPHA DELTA BAND COMMENT NAME ALPHA DELTA BAND COMMENT M4_087 162323 819000 263429 760000 7 01 09 M4_088 162338 470000 263319 250000 6 97 A ley M4_089 162335 942000 263100 900000 7 51
131. small the large grey circles in each case define the whole Nasmyth field as it is accessible by the telescope guide probe arm In fact the allowed area for potential guide stars VLT MAN KMO 146606 002 KARMA User Manual 43 is now only the intersection of these 4 circles excluding the FoV and an additional margin allowing for the finite size of the guide probe and its shadow in each telescope position You need not care about this area KARMA does it for you All symbols indicating a position not accessible by the guide probe are hidden All you have to do is to choose from the remaining ones Currently all guide star positions between 5 29 and 12 arcmin from the centre of a particular telescope position are considered as available for selection The upper limit here provides for a sufficient wavefront sensing quality as the latter decreases with the distance from the telescope optical axis Have a look at the control panel figure 28 now What you see is a combination of two catalogue widgets you already know them from steps 4 and 6 The upper one contains the available guide stars the lower one those you have selected Initially the lower part is empty You can now move entries between these two lists by means of the buttons in between Simply select an item using the left mouse button and then press the corresponding arrow button Once a list item is selected the corresponding symbol in the main window starts flashing You already know this behavi
132. ss as a whole For this reason the bright object constraint is disabled here 8 3 Finding a suitable sky background position Having allocated the arms in the position only the task of finding a suitable sky background is left The dedicated Sky tab assists you in this task Select it It is necessary for all three observation modes and here you also really need the IFU panel on the right side of the main window First try to find a suitable telescope position and or rotator angle with the shift and rotate buttons like before while always keeping an eye on the changing content of the IFU windows and aiming at blank IFU squares the white outlines indicating the actual areas to be selected for spectroscopy If you think none of them is contaminated by light from external objects anymore you can fix telescope Science position and rotator angle just like in the position In the not that unlikely case that a bright object strikes one of the upper arms what by definition shall be avoided you will be asked by a message dialogue whether you Ignore not recommended or Respect the appropriate warning y 8 8 3 g In the latter case you have to modify telescope position and or rotator angle again and fix it them if they are valid with respect to the bright object rule For Stare and Mosaic that s it already In Nod to sky mode however you can now allocate additional free arms to targets This is possible only in manual mo
133. st item and Edit too Editing of disabled entries and allocated targets is not allowed Position Type O science target R reference target Be 26 29 23 52 _ S sky target J G guide star Brightness 7 B bright object M marker position RA 16 23 38 469 Magnitude 9 66 Priority Band J An v2 y rr OK Figure 9 Dialogue window that allows for the editing of catalogue entries after the catalogue file has been loaded It should be used only in exceptional cases Once you have checked that all catalogue entries are really displayed and if you have identified the corresponding symbols you can go to the step VLT MAN KMO 146606 002 KARMA User Manual 19 5 Step 2 Load image After having loaded your catalogue in principle you could carry out the whole KARMA session without any additional input assuming however that suitable sky background positions have been provided along with the input catalogue This is usually not the case Instead you determine your sky background only after the science target allocation as described in section 8 In addition you want to have a clue about what you are doing and whether your allocated arms are really placed on the objects you are going to observe Therefore it is strongly recommended that you provide a FITS image covering your target field Since KMOS has no imaging mode this image can be taken from any source A convenient way is for example
134. t an observation position suitable to allocate as many science targets as possible b KARMA then allocates pick off arms to science target positions and presents the assignment which you can either accept or modify manually c You search a suitable sky background position depending on the selected observation mode This by the way is the only step where the image is presumably indispensable d Optionally you can also save a PostScript hardcopy of your pick off arm configuration or a JPEG finding chart 6 You define an acquisition configuration section 9 a You fix telescope position and rotator angle at an acquisition position suitable to allocate as many reference targets as possible b KARMA allocates pick off arms for acquisition and presents the assignment which you again can either accept or modify manually c KARMA provides a default sky background position which you can modify d Again you have the option to save a hardcopy or a finding chart 7 You select a number of potential telescope guide stars section 10 VLT MAN KMO 146606 002 KARMA User Manual T 8 You save your configuration in ESO proprietary PAF format for further processing with the P2PP tool as described above see also section 11 Optionally you save the status of your KARMA session in an XML file in case you want to interrupt and resume it later on If not already done you can save here a JPEG finding chart too Steps 4 through
135. t field centre and your chosen sky background position respectively While the former is usually chosen with special focus on the most efficient target allocation the latter must be determined interactively after having already assigned the pick off arms Since both tasks depend on the allocation process itself they can only performed with KARMA The initial telescope pointing the one for acquisition however will be transferred to the P2PP tool automatically and must not be modified edited in the OB Q Why can t I get two arms closer to each other although they don t seem to touch yet A To allow for additional small pick off arm displacements at observation time due to cor rections of differential atmospheric refraction effects each arm is surrounded by a small safety margin which defines the closest possible approach of 2 arms in KARMA Q Why do I need a dedicated sky background position for the acquisition even in case it is done by means of bright reference stars A Reference objects need not necessarily to be as bright as it is required by data reduction to determine their centre position exactly As a precaution for such cases the additional sky background position must be provided Q Why do I get a warning that a particular bottom arm IFU is vignetted Even with the largest possible zoom I can t see any neighbouring upper arm shadowing it A The IFU size as drawn by KARMA is the one related to the focal pla
136. t necessarily be as visible as on Screen but you can adjust them suitably through the Preferences dialogue See subsection 3 5 for this purpose 30 KARMA User Manual VLT MAN KMO 146606 002 OEE GC les a re 2 20 GVO VC DIES FREIE 2 BL CV EG OVO EG Ol7v tLlele OC eer 82 269 VCO Ge OTTO 29 2 927 12 57 229 9 0 LG De BC 2590 60 ea Ged 060 G7 oera Pal S 6 9 SVO 6 Olar VoL 96 1029 er Geo sae S 0169 66 65 9C 85 E ECO A abe 5 L a a e IOS Y9INdV 19 Ole E E 96 gt bye 2 200 700 G Oley e 7222 9 SLO V DOL OG eo Fi NINE 200 2 OOO Gee 2 IE ZZ Voss Co LOO 6 POG Wen IG lao lei cane OVA GV LS 9C 16G6 LE So 9 GLO O Ole Cake 92 HS 1 pered KUL 6 OW Vs eG e 9 Ceo ae S OO IL FE A A G L L Alao elepe A ea CGO 3 D 57 VV 0S 9C 900 L E F 6 9 LLO G lee E Tad Een ne S T OO a Taal TA IT VSO O2 02203 73102 Jee oo 600 OSO 81 096 947 509 32 229 LeU So ve Al 2 OS 2 ZL0CE CO UOINSOd sOUsdIOS zo UOoNDANBILUOI JOUBOMLU Aq peupdald Figure 20 An example hardcopy of the current arm configuration 36 KARMA User Manual VLT MAN KMO 146606 002 Alternatively and complementary to the PostScript hardcopy described above you can create JPEG finding charts similar to the ones available in FIMS Guidecam and VMMPS They have to be attach
137. t s hitting the arm corresponds to M4_060 ARM22_SKA 162340 263111 42 D 228 855868 560001 854579 058593 344666 711510 SH we we we we we we we we HH Hr HH OF OF OF F corresponds to M4_055 ARM24_SKA 162344 262956 68 50 190 053791 140002 032057 271884 142965 059896 ION name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background IFU vignetted T or not vignetted F name id of catalogue entry F corresponds to M4_056 target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target type sky background IFU vignetted T or not vignetted F Arm configuration at first Science position OCS OCS OCS OCS OCS OCS OCS OCS TARG SCI ALPHA TARG SCI DELTA ROT SCI OFFANGLE ARM1 SCI NAME ARM1 SCI ALPHA ARM1 SCI DELTA ARM1 SCI Y ARM1 SCI Z 162335 410000 263131 900000 0 000000 M4_037 162338 605000 262915 950000 25 149100 79 706718 telescope pointing RA telescope pointing Dec rotator angle name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system 69 DU
138. tely locked in the instrument which could be reflected in the configuration file kmmcfgINS cfg to be found in subdirectory doc you have an option to exclude the not available ones from allocation in KARMA For the current KMOS status especially for the information which arms are locked for which period please check the following web page http www eso org sci facilities paranal instruments kmos news html If a particular arm is known to be locked you can disable it through a dedicated dialogue window that you get via figure 6 In the unlikely case that a broken arm is not locked at its park position but left in the field and if this lock position is known you can move the arm by means of the spin buttons to a given point and lock it afterwards Otherwise it is sufficient to just press the arm number button in order to disable or re enable the corresponding arm which will then not be used in KARMA The whole feature is however available only in the KARMA setup steps that are related to arm allocation see sections 8 and 9 A disabled arm keeps its lock status until the end of the current KARMA session Finally if a particular arm is actually locked in the instrument but was allocated to a target in KARMA a dedicated algorithm within the KMOS Observation Software at the instrument workstation VLT MAN KMO 146606 002 KARMA User Manual 13 Enable disable arms Sector A Sector BA ee Sector C on Linear pos Angular pos E n
139. tion By zooming into the main window you can check that the target symbol is really centred within the IF square on the arm tip You can however also place any free arm also at an arbitrary sky position After Allocate KARMA in this case creates a new sky background target which is assigned to the arm An appropri ate symbol appears in the main window This can be somewhat confusing if a nearby science target whose allocation was actually intended was not caught and a sky target was created instead Use the 34 KARMA User Manual VLT MAN KMO 146606 002 zoom buttons to avoid such situations or just deallocate the arm again The newly created sky target then will in contrast to those from the input catalogue which were already present before deleted 8 2 4 Allocation in Mosaic Mode Since in Mosaic mode you use a predefined pick off arm pattern you have not much to configure anymore beyond the telescope and rotator settings Consequently the Mosaic algorithm is already preselected and all you have to do is to the arms Do this in the position Due to the nature of this mode a big part of the KMOS FoV after the allocation will be covered by arms deployed to their predefined positions near the centre Therefore it will be almost unavoidable that bright objects if any of them are present in the FoV will strike the tube of at least one of these arms Excluding a particular arm from the pattern however would make the Mosaic sensele
140. tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority 68 OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS KARMA User Manual ARMS ARMS ARMS ARMS ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM9 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM12 ARM12 ARM12 SCI SCI SCI SCI SCL SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SoG SCI SCI SCI SCI SCI SCI COMMENT SCI SCI SCI SCI SCI TYPE MAG VIGNET COMMENT marker position NAME ALPHA DELTA m al R THETA PRIOR TYPE MAG BAND HIT COMMENT NAME Di PA R THETA PRIOR STYPE MAG BAND VIGNET COMMENT NAME ALPHA DELTA SCI Y Ls R THETA PRIOR TYPE MAG BAND HIT NAME ALPHA DELTA ALPHA DELTA o 10 58 F M4_003 162321 26
141. to Sky and Stare see section lt gt 7 the catalogue shall contain at least two of them KARMA checks this in step 4 at the latest S Sky background position optional Only to be taken into consideration if you know ce lestial positions in advance that are particularly suitable for sky background subtraction Usually these positions will be defined during the KARMA session interactively G Potential telescope guide star At least one such entry is required irrespective of the type X of observation you are going to prepare Although up to 5 VLT guide star candidates can be selected by means of KARMA you should take into account that those being inside a certain minimum radius will be discarded in order to avoid vignetting of the KMOS FoV see section 10 Therefore it is advantegeous to provide a sufficient number of G entries which are also sufficiently far off the field centre B Object brighter than a certain limiting magnitude optional Can also be defined during C the KARMA session C Field centre mandatory Not necessarily associated with any target position but will be used as an initial reference point for instance during the search in the 2MASS online catalogue In Mosaic mode see section 7 it will be probably but not necessarily be the centre of the contiguous mapping field you are going to observe VLT MAN KMO 146606 002 KARMA User Manual 15 M Marker position optional Can be used to mark a certain
142. u with a list of either point or extended source positions enclosed within the search area in J2000 coordinates You can see the default values for both these settings already displayed in the corresponding entry fields of the current control panel page You can overwrite them your input will be checked for plausibility Although for the arm allocation itself only those objects will be considered which are inside the KMOS FoV then the search radius which is meant relative to the catalogue centre position should be somewhat greater than the FoV radius to allow for the inevitable telescope offsets to be specified in later steps Finally by means of the 2 radio buttons you can choose between point and extended source search To try this all out now first check if your computer is connected with the internet If so specify your search values and simply click Search It usually takes a few seconds until you get the result list If you leave the default values as they are the control panel then should look like in figure 12 and the main window like in figure 13 KARMA Control panel x Bright Catalogue Image objects Step 3 Identify bright objects search 2MASS catalog radius arcmin 5 00 Point search J band magnitude limit 12 00 w Extended Bright objects ID RAC JI2000 Dec J2000 Type mag 16233927 2633059 16 25 39 274 26 33 05 97 6 97 16233846 2633192 16 23 38 470 26 33 19 25 6 97 M4_088 16 23 38 470 26
143. ual 59 z position of arm tip in device system we HH HH FH OF OF OF OF OF OF HH H FH FH FOF OF OF OF OF H HH H FH FH FH OF OF OF OF OF distance of arm tip from arm axis angular move of arm target priority target type reference magnitude as given in catalogue wavelength band as given in catalogue bright object s hitting the arm name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type reference magnitude as given in catalogue wavelength band as given in catalogue bright object s hitting the arm name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type reference magnitude as given in catalogue wavelength band as given in catalogue IFU vignetted T or not vignetted F name id of catalogue entry target RA target Dec y position of arm tip in device system z position of arm tip in device system distance of arm tip from arm axis angular move of arm target priority target type reference magnitude as given in catalogue wavelength band as given in catalogue IFU vignetted T or not vignetted F DU OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS OCS
144. xceptional cases You can activate the GUI preferences dialogue by means of the KMOS menu item and either Apply your settings for the actual session only or make them permanent by clicking the yy g button In the latter case they are stored in a dedicated file karma pref under subdirectory karma in your HOME directory The Choose colour dialogue lets you choose between the 16 basic colours defined by the HTML 4 01 specification and to define your own custom colours additionally It pops up if you click on the colour field corresponding to a certain drawing item left part of the GUI preferences dialogue If you enable the button in the Field of View section lower right part KARMA draws a supporting coordinate grid Since the orientation of the IFU squares is by design always kept aligned 12 KARMA User Manual VLT MAN KMO 146606 002 GUI preferences Upper arms EF Lower arms Field of view Science targets priority 1 Science targets priority 2 Lines Field of view 7 Guide star zone Science targets priority 3 E Reference targets E N y z axes m Selected colour Sky targets i Grid Red 1103 Allocated targets 7 Numbers Green 1602 Bright objects Blue 2105 oe fren sve l 2 en Pn Figure 5 Dialogue windows allowing some simple adjustments of GUI appearance The colour dialogue right pops up if you click into the c

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