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KARMA User Manual

1. then through the corresponding control panel page the one dedicated to step 8 The same applies to for whatever reason wrong check sums They will be corrected if you the PAF file again Finally with KMOS New you always start a completely new KARMA session It would lead you again to step 1 and section 4 respectively 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 Due to a bug in a previous KARMA release the guide star numbering in PAF files created before version 1 13 might be wrong i e selected guide stars might have numbers greater than 5 This can be corrected in the same way Reload the PAF file and save it again 46 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 b
2. 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_060 ARM22_SKA 162340 855868 263111 560001 42 854578 6 058593 228 344666 2 711510 gl ve ve ve ve ve ve ve we HH HH HH H HH OF F corresponds to M4_055 ARM24_SKA 162344 053791 262956 140002 68 032056 50 271884 190 142965 7 059896 wl 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 0CS 0CS 0CS OCS 0CS 0CS 0CS 0CS ARM1 ARM1 ARM1 ARM1 ARM1 TARG SCI ALPHA TARG SCI DELTA ROT SCI OFFANGLE SCI NAME SCI ALPHA SCI DELTA SCI Y SCI Z 162335 410000 263131 900000 0 000000 M4_037 162338 605000 262915 950000 25 1
3. E Ma 016 16 23 23 543 26 33 41 28 M4_001 16 23 34 772 26 31 35 00 a a za ER Ra ER ZEN EBEN EE EE ee o f4 Es Ex zu Es ES Figure 28 Summary of the arm allocations in the 4 telescope positions 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 as 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 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 43 You can switch
4. Equinox Min 3 11082 Max 390 099 Bitpix 32 Low 3 10894 2 High 25 Auto Set Cut Levels Scale Wu zizi Figure 10 The main window after having loaded the example image M4 fits Suitable display properties have been achieved by adjusting the cut levels VLT MAN KMO 146606 002 KARMA User Manual 19 If your control panel looks like figure 9 and the main window similar to figure 10 you are done with this step and you can go to the Next 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 It will be useless and therefore be rejected 20 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 2MA
5. Organisation Europ ene pour des Recherches Astronomiques dans H misph re Austral Europ ische Organisation f r astronomische Forschung in der s dlichen Hemisphare S EUROPEAN SOUTHERN OBSERVATORY 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 1 June 21 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 WI Change Record Issue Date Sections Reason Remarks 1 0 1 2012 05 30 all Prepared for PAE 1 1 2012 07 11 all Version after end to end tests and before PAE meeting 2 0 2013 05 15 all New KARMA release prepared for Science Verification 2 0 9 2013 06 03 all Minor changes on SV version 2 1 2013 06 21 all Screenshots and example PAF replaced 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 V Contents 1 Introduction 1 1 1 Audience prerequisites and organisation of this manual 1 1 2 Abbreviations and acronyms s o o e escac eba ceketi ra ddia ee 1 13 Bivlistic tonyoi sus
6. 162335 263222 0 29 243 355000 530000 432731 684569 025314 773529 1 R 8 75 ngn F M4_049 162336 263201 5 17 255 144000 590000 775287 407433 029041 313423 1 R 8 88 ugn F KARMA User Manual 57 z position of arm tip in device system we HH HH HH HH H HOF FH OF HH HH HH FH HOH OH OH OF HH HH H HH OH OH HF HF 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 tar
7. 99 53 158 4 597387 324966 381443 767164 037166 224863 sr n 4 HH HH HHH VLT MAN KMO 146606 002 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_019 ARM 162332 263118 18 782705 8_SKY 829419 053968 677557 630596 936983 ou 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_033 ARM 162320 263122 112 16 156 0 9_SKY 814374 170283 201541 436636 621648 603904 ol mm 5H 5H 5H 5H 5H 5H 5H 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 003 ARM 162331 263127 27 8 241 10_SKY 667782 076131 154333 115968 824131 685539 S F name id of catalogue entry target RA target Dec y position of arm tip in device system
8. Bright objects in field 0CS 0CS 0CS 0CS 0CS OCS 0CS OCS 0CS 0CS 0CS 0CS 0CS OCS OCS OCS 0CS 0CS 0CS 0CS OCS 0CS OCS OCs BRGH1 NAME BRGH1 ALPHA BRGH1 DELTA M4_085 162323 819000 263429 760000 BRGH1 MAG 7 01 BRGH1 BAND gn BRGH1 COMMENT um BRGH2 NAME ma 086 BRGH2 ALPHA BRGH2 DELTA 162338 470000 263319 250000 BRGH2 MAG 6 97 BRGH2 BAND gr BRGH2 COMMENT um BRGH3 NAME M4_087 BRGH3 ALPHA BRGH3 DELTA 162335 942000 263100 900000 BRGH3 MAG 7 51 BRGH3 BAND yu BRGH3 COMMENT nm BRGH4 NAME M4_088 BRGH4 ALPHA BRGH4 DELTA 162339 274000 263305 970000 BRGH4 MAG 6 97 BRGH4 BAND gn BRGH4 COMMENT nm 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 RA Dec RA Dec RA Dec 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 wavelength band as given in catalogue name id of bright object 2 magnitude as given in catalogue wavelength band as given in catalogue name id of bright object 3 magnitude as given in ca
9. R THETA TYPE VIGNET COMMENT NAME ALPHA DELTA Y 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 DELTA Y a AR THETA TYPE VIGNET COMMENT 240 614543 3 516980 S F KARMA User Manual 75 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_020 ARM21_SKY 162342 745792 263154 891026 61 397007 12 912331 211 838836 5 639118 S wi 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 465726 263106 258851 32 090571 11 993654 235 765459 0 291586 S 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_024 ARM23_SKY 162343 755963 262929 103705 58 144339 72 870613 180 904355 7 117896 ol mm 3 3 3 3 sH 3 3 3 3
10. 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 Y 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 h Z R THETA TYPE HIT COMMENT NAME ALPHA DELTA y Z 263355 22 89 179 4 340000 152327 301002 543362 378729 1 or 10 20 mye F ARM17_SKY 162335 263218 9 33 237 830860 519410 260292 741969 959456 178506 ol M4_086 corresponds to M4_023 ARM18_SKY 162335 263142 1 13 260 231155 187938 801858 238750 681005 067842 gl F 3 sH 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 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 name id of catalogue entry target RA target Dec y position of arm tip in device sys
11. 405 418 799 445 558 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 26 33 33 33 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 31 30 31 30 32 SL 31 28 33 30 32 28 27 23 32 35 25 38 35 26 32 38 55 29 30 49 47 17 34 39 20 53 15 07 16 27 19 23 47 00 22 43 09 28 01 11 11 54 20 22 21 94 34 19 63 55 46 20 76 06 91 91 95 77 62 60 99 52 83 53 77 91 39 49 59 04 63 33 04 53 56 06 49 29 27 46 39 49 24 39 32 17 57 53 34 53 53 23 09 45 09 14 01 76 24 39 77 08 13 78 33 75 29 87 12 13 84 83 30 79 57 OO0O000 0 0 oO M O OOOO TCT OO GOGOR O D III Y V RQRAANQAAARAAARAAAAAARAAAA NANQANA QN QN QAQA AAA A 10 10 91 10 76 10 54 10 96 10 96 10 10 10 82 55 66 92 89 68 14 81 44 88 63 32 46 35 75 31 77 11 59 19 92 efi 61 25 82 83 60 24 63 80 ti 81 62 57 65 50 Oo O co co o O r je O WO OO WO WO OO O O OO DV WO O O O OD O DADO WOO W
12. BAND VIGNET COMMENT NAME ALPHA DELTA Y Z R THETA PRIOR TYPE MAG BAND HIT COMMENT NAME ALPHA DELTA M4_003 162321 263159 112 16 156 0 150000 890000 201541 436636 621648 603904 1 nor 10 45 Tu Ma 015 162331 959000 263145 740000 27 154333 8 115968 241 824131 685539 1 o 10 35 wy F M4_016 162323 543000 263341 280000 93 349859 874015 789253 288059 1 or 10 29 mye M4_001 162334 772000 263135 000000 we VLT MAN KMO 146606 002 target type science magnitude 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 bright object s hitting the arm science 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 target Dec y position of arm tip in device system Z position of arm tip in device system distance of arm tip
13. MAG BAND 5 020259 1 817594 265 517446 0 620699 1 or 10 21 wg F M4_007 162327 082000 263329 700000 65 512718 69 075474 184 292678 10 660397 1 or 10 54 nn M4_013 162334 940000 263158 480000 3 698100 15 583987 254 071881 0 368113 1 or 10 54 Hr F Ma 004 162333 861000 263419 810000 12 183825 98 446601 175 762857 8 154085 1 or 9 72 Mpa KARMA User Manual y position of arm tip in device system z position of arm tip in device system we HH HH HH HH H HOF OF OF HH HH HH HH H OH HF OF OF 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 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 bright object s hitting the arm science 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 vignett
14. 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 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 VLT MAN KMO 146606 002 KARMA User Manual 7 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 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 All steps which are only briefly mentioned here are desribed in full detail in sections 4 to 11 2 4 What you get If you follow the steps above you will complete your KARMA session with the following things created e One or more ASCII file s in an ESO specific proprietar
15. distance of arm tip from arm axis 0 466646 angular move of arm S target type sky background F IFU vignetted T or not vignetted F corresponds to M4_022 ARM7_SKY name id of catalogue entry 72 0CS 0CS 0CS OCs 0CS 0CS 0CS 0CS OCs OCS 0CS OCS OCS 0CS 0CS 0CS 0CS 0CS OCS 0CS 0CS OCS 0CS 0CS 0CS OCs 0CS OCs 0CS 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS KARMA User Manual ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARM7 ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 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 ALPHA DELTA X 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 R THETA TYPE VIGNET COMMENT NAME ALPHA DELTA Y Z R THETA 162323 262926
16. you leave KARMA and RTD irrevocably But that s not all there is yet another possibility to restore a KARMA session The option KMOS Load PAF 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 configurations 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
17. 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 Ve ve ve ve ve ve HH H HHHH we sH corresponds to M4_052 ARM16_SKA 162335 355001 263212 530000 0 432731 29 684569 243 025314 2 773529 gl 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 143982 263151 590000 5 775287 17 407433 255 029041 2 313423 wo 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_049 ARM19_SKA 162346 322736 263217 240003 85 860756 32 461284 178 275667 0 921517 Sg 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 sH sH 3 3 sH corresponds to M4_059 ARM20_SKA 162340 10088
18. ACQ NAME M4_065 ARM13 ACQ ALPHA 162335 200000 ARM13 ACQ DELTA 263232 330000 ARM13 ACQ Y 1 652207 HH HH HH HH H HOF OF OF ve ve ve ve ve ve ve ve ve vs ve ve we Ve ve ve ve ve ve ve ve ve vse ve we HH HH Hr H HH HOH HF OF OF HH HH HH HOH OH OH FH OF VLT MAN KMO 146606 002 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 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
19. 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 Back and Next 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 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 advantag
20. 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 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 of the 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 pointings large offsets between 48 14 15 16 17 KARMA User Manual VLT MAN KMO 146606 002 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 po
21. arms on reference targets Telescope at Acquisition position Telescope at Science position o Be E arms on lll sky background ee A cy arms on cy sky background i O e f O E 7 Ed Telescope at Sky position Telescope at Sky position Figure 23 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 Allocate and if necessary Reset J The statistics frame again shows the result Don t bother about the science target allocations which may possibly be
22. band as given in catalogue IFU vignetted T or not vignetted F name id of catalogue entry target RA VLT MAN KMO 146606 002 0CS 0CS 0CS OCs 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS 0CS 0CS 0CS OCS 0CS 0CS OCS 0CS OCS 0CS 0CS 0CS OCS 0CS 0CS 0CS OCs 0CS 0CS 0CS OCS OCS 0CS OCS OCs 0CS OCS 0CS 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 ARM7 ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS 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 DELTA Y Z R THETA PRIOR TYPE MAG BAND HIT COMMENT NAME ALPHA DELTA yY 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 X Z R THETA PRIOR TYPE MAG 262911 630000 46 441702 82 236410 176 979821 4 283103 1 R 9 32 na Ma 058 162329 263029 49 36 208 0 124000 76000
23. 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 24 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 38 KARMA User Manual VLT MAN KMO 146606 002 2 tn AR E catalogue Image objents Mode Science fequisitin Catalogue Image objets Mode Science Acquisition Step 6 Define arm configuration for Acquisition Step 6 Define arm configuration for Acquisition Acquisition Sky Acquisition Sky position position position position Telescope position rotator angle Telescope position rotato
24. 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 3 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 KARMA 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 sect
25. 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 a new 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 straylight 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 4 According to the e
26. magnitude as given in catalogue wavelength band as given in catalogue bright object s hitting the arm science 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 70 KARMA User Manual VLT MAN KMO 146606 002 OCS ARM23 SCI DELTA 262927 600000 target Dec OCS ARM23 SCI Y 58 144339 y position of arm tip in device system OCS ARM23 SCI Z 72 870613 z position of arm tip in device system OCS ARM23 SCI R 180 904355 distance of arm tip from arm axis OCS ARM23 SCI THETA 7 117896 angular move of arm OCS ARM23 SCI PRIOR 1 target priority OCS ARM23 SCI TYPE 0 target type science OCS ARM23 SCI MAG 9 82 magnitude as given in catalogue OCS ARM23 SCI BAND J wavelength band as given in catalogue 0CS ARM23 SCI HIT bright object s hitting the arm 0CS ARM23 SCI COMMENT we OCS ARM24 SCI NAME M4_045 name id of catalogue entry OCS ARM24 SCI ALPHA 162335 653000 target RA OCS ARM24 SCI DELTA 263122 770000 target Dec OCS ARM24 SCI Y 1 912162 y position of arm tip in device system OCS ARM24 SCI Z 5 352947 z position of arm tip in device system OCS ARM24 SCI R 264 5
27. 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 553432 263110 773756 1 912162 5 352947 264 594903 0 377142 S 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_045
28. of the assignment regarding a special optimisation criterion Formally for a given cost matrix ci C12 Cin C21 C22 Can C 1 Cml Cm2 Cmn m n 1 Z Cij ij min VLT MAN KMO 146606 002 KARMA User Manual 29 KARMA 2 1 M4 fits Bitpix Low 3 E image select object scroll image measure WCS Control J select region Figure 18 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 each 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
29. ou m m m RR u co Co Co Co CC field center of M4 marker position 49 50 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 16 16 16 16 16 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 23 24 23 23 22 24 23 23 23 23 23 45 36 25 33 21 24 40 33 30 42 43 40 926 534 304 105 846 884 111 023 676 688 213 38 34 35 42 35 38 50 24 35 46 21 24 36 31 29 39 36 35 856 44 29 29 46 47 40 39 30 36 35 06 59 34 59 00 54 37 48 32 16 605 021 304 797 110 469 358 021 653 923 398 374 144 427 510 398 577 355 054 880 124 323 404 101 969 207 672 200 542 464 148 947 905
30. 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 to 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 Nico las Bouch Michele Cirasuolo Ric Davies Niv Drory Peter Erwin Maximilian Fabricius Michael Hilker Carlo Izzo Mario Kiekebusch Markus Kissler Patig Johannes Koppenh fer Jaron Kurk Stephane Marteau Bernard Muschielok Luca Pasquini Dan Popovic Suzanne Ramsay Myriam Ro drigues Roberto Saglia Ivo Saviane J rg 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 G ssl and Josef Richter f
31. 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 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 optimization algorithms are provided complemented by the trivial method of allocating pick 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 17 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 al
32. 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 Now have a look at the control panel You see again the Load and Clear 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 9 Since KARMA scales the image Figure 9 The control panel before and after having loaded the example image MA fits 18 KARMA User Manual VLT MAN KMO 146606 002 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 1
33. 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 42 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 28 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 v KARMA Control panel f mos Ts aa an sen asanun m o EEE ESB cosa 16 23 30 67 escassa 06 0 a Eu o fieza ozara o a a EEE ESSE EEE ESESDE aaar 0 4 poss 16 23 35 ons 26 0534 76 SEIEN EN E EA 16 23 31 959 23 31 959 26 31 45 74 fofa rf i o
34. sky background F IFU vignetted T or not vignetted F corresponds to M4_009 ARM3_SKY name id of catalogue entry 162331 627479 target RA 262919 232079 target Dec 37 261090 y position of arm tip in device system 66 155675 z position of arm tip in device system 201 544551 distance of arm tip from arm axis 8 073983 angular move of arm S target type sky background bright object s hitting the arm corresponds to M4_034 ARM4_SKY name id of catalogue entry 162331 949887 target RA 263005 865672 target Dec 31 173399 y position of arm tip in device system 39 380032 z position of arm tip in device system 222 112844 distance of arm tip from arm axis 3 544120 angular move of arm S target type sky background F IFU vignetted T or not vignetted F corresponds to M4_025 ARM5_SKY name id of catalogue entry 162327 353409 target RA 263017 633881 target Dec 66 137021 y position of arm tip in device system 27 811100 z position of arm tip in device system 210 693347 distance of arm tip from arm axis 9 711066 angular move of arm S target type sky background bright object s hitting the arm corresponds to M4_017 ARM6 SKY name id of catalogue entry 162333 987164 target RA 263057 808979 target Dec 11 300129 y position of arm tip in device system 11 280224 z position of arm tip in device system 254 176470
35. 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 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
36. target type science magnitude 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 66 0CS 0CS 0CS OCS 0CS 0CS 0CS 0CS 0CS OCS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS OCS OCS 0CS 0CS 0CS OCS 0CS OCS 0CS 0CS 0CS 0CS 0CS OCS 0CS OCS OCs 0CS 0CS 0CS 0CS 0CS OCS 0CS OCS 0CS KARMA User Manual ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS 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 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 TYPE MAG VIGNET nor 10 58 Res COMMENT marker position NAME ALPHA DELTA sY Z R THETA PRIOR TYPE MAG BAND HIT COMMENT NAME ALPHA DELTA Y Z R THETA PRIOR TYPE MAG
37. tip in device system VLT MAN KMO 146606 002 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS OCS OCS 0CS OCS 0CS 0CS 0CS 0CS 0CS OCS OCs OCS 0CS 0CS 0CS 0CS 0CS OCS 0CS OCS 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS 0CS 0CS 0CS 0CS OCS 0CS 0CS 0CS OCs 0CS 0CS 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 ARM18 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 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 DELTA Y Z R THETA PRIOR TYPE MAG BAND VIGNET 35 236 2 430353 940053 910817 1 R 8 83 wy M4_052 162339 263454 31 118 149 6 398000 330000 365418 687542 052993 009651 1 R 8 46 ty M4_054
38. y position of arm tip in device system OCS ARM2 SKY Z 28 453191 z position of arm tip in device system OCS ARM2 SKY R 240 759504 distance of arm tip from arm axis VLT MAN KMO 146606 002 0CS 0CS OCS OCS 0CS 0CS 0CS 0CS 0CS OCS 0CS OCS 0CS 0CS OCs 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS 0CS OCS 0CS OCS 0CS OCS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS ARM2 ARM2 ARM2 ARM2 ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS 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 ARM6 ARM6 ARM6 ARM7 SKY SKY SKY SKY ALPHA DELTA sY SKY SKY SKY SKY HIT SKY SKY SKY SKY SKY SKY SKY DELTA SKY SKY R THETA TYPE VIGNET SKY SKY SKY SKY SKY SKY SKY SKY SKY EN SKY R THETA TYPE HIT SKY SKY SKY SKY SKY SKY SKY SKY DELTA Y SKY R THETA TYPE VIGNET SKY SKY SKY SKY SKY SKY SKY SKY THETA TYPE VIGNET SKY COMMENT NAME Z R THETA TYPE COMMENT NAME ALPHA X Z COMMENT NAME ALPHA DELTA Z COMMENT NAME ALPHA Z COMMENT NAME KARMA User Manual 71 1 052884 angular move of arm S target type
39. 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_015 ARM 162322 263306 93 11_SKY 200359 884510 349859 874015 789253 288059 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 VLT MAN KMO 146606 002 OCS 0CS 0CS OCS 0CS 0CS 0CS OCS 0CS OCS OCS 0CS 0CS 0CS OCS 0CS 0CS 0CS OCS 0CS 0CS 0CS 0CS 0CS OCS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS OCs 0CS 0CS 0CS 0CS 0CS OCS OCS 0CS 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 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
40. 0 470739 427880 579878 333948 1 R 8 59 JY F M4_047 162321 263109 110 13 165 10 398000 390000 263684 172618 829714 431875 1 R 8 81 nau Ma 057 162329 263149 43 10 228 8 880000 010000 512684 035569 704142 918552 1 R 9 11 HH HH H H HF OH HF OF FH HH HH H H FH OF OF HH HH HH HH H OH OF FH OF HH HH H HOH OH OH OF KARMA User Manual 55 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
41. 0 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 View 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 possibility to adjust symbol sizes and colours by means of the KMOS Preferences menu in case of bad visibility 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 you had to provide it from the FITS header 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 6 is not necessary The lower part of the current control panel page indicates the orientation of the image with respect to the sky coordinates
42. 0 16 23 35 410 26 31 31 90 C M4_001 16 23 34 772 26 31 35 00 O M4_002 16 23 23 058 26 33 32 26 0 M4_003 16 23 21 150 26 31 59 89 0 M4_004 16 23 33 861 26 34 19 81 O M4 005 16 23 28 460 26 32 54 14 0 M4 006 16 23 33 130 26 30 56 88 0 M4 007 16 23 27 082 26 33 29 70 O M4 008 16 23 26 942 26 31 31 32 0 M4 009 16 23 36 453 26 30 43 37 0 M4 010 16 23 38 571 26 30 38 07 O M4 011 16 23 20 899 26 31 36 88 0 M4 012 16 23 27 418 26 30 59 56 O M4 013 16 23 34 940 26 31 58 48 0 M4 014 16 23 40 986 26 31 30 20 O M4 015 16 23 31 959 26 31 45 74 O M4 016 16 23 23 543 26 33 41 28 0 M4 017 16 23 27 006 26 30 44 45 O M4 018 16 23 35 639 26 31 54 48 0 M4 019 16 23 22 783 26 30 00 16 OM M4 020 16 23 38 925 26 32 03 50 0 M4 021 16 23 26 749 26 32 38 85 0 M4 022 16 23 33 974 26 31 12 66 O M4 023 16 23 36 587 26 32 29 45 0 M4 024 16 23 39 488 26 31 11 44 0 M4 025 16 23 31 449 26 30 24 73 0 KARMA User Manual Arbitrary limits without any scientific justification chosen for this reference targets also to be used as guide stars additional guide stars outside a radius of 4 arcmin These settings ensure a sufficient visibility of the targets objects on the corresponding background image taken from the 2MASS image server as well as For the sake of simplicity the priorities of all science and reference tar 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 RR ou
43. 1 H rsarian Alegria sesaria di a 84 cd eed ee he ee ee heed esa 28 8 2 2 Stable Marriage Algorithm nn 30 823 Mammal Allocation sussa pastas E Ra be ae 31 8 2 4 Allocation in Mosaic Mode 0 0000 eee ee ee 32 8 3 Finding a suitable sky background position 2 0000 32 54 Creating hardcopies and finding charts as a u lt e254 e 64 dee a ADO a 32 9 Step 6 Define arm configuration for acquisition 36 9 1 Acquisition from science targets ooo eo e e 36 9 2 Acquisition from reference targets osooso a e e e 37 10 Step 7 Select telescope guide stars 39 VI KARMA User Manual VLT MAN KMO 146606 002 11 Step 8 Save configuration PAF file 42 12 It s not over until it s over 44 A Frequently asked questions 46 B Example catalogue 49 C Example PAF file 52 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 Very 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
44. 49100 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 63 64 0CS 0CS 0CS 0CS 0CS 0CS OCS OCs 0CS OCS 0CS OCS OCS 0CS 0CS 0CS 0CS OCS OCs OCS ocs 0CS OCS OCs 0CS OCS 0CS OCS 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS ocs 0CS 0CS 0CS OCS 0CS 0CS 0CS 0CS 0CS 0CS KARMA User Manual ARMA ARMA ARMA ARMA ARM1 ARM1 ARM1 ARM1 ARM2 ARM2 ARM2 ARM2 ARM2 ARM2 ARM2 ARM2 ARM2 ARM2 ARM2 ARM2 ARM2 ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 SCI R SCI THETA SCI PRIOR SCI TYPE SCI MAG SCI BAND SCI HIT SCI COMMENT SCI SCI NAME 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 2 877826 228802 1 nor 10 46 Ty M4_009 162336 263043 8 28 240 453000 370000 208126 453191 759
45. 504 052884 1 ng 9 98 ngu F M4_034 162330 262939 37 66 201 8 676000 060000 261090 155675 544551 073983 1 nor 9 96 eye M4_025 162331 263024 31 39 222 34 449000 730000 173399 380032 112844 544120 1 nor 9 58 gj F HH HH H HF OF HH HH HH HOH HH H OH OF OF OF HH HH HH HO H HF OF OF HH HH HH HH OH OH OF OF OF VLT MAN KMO 146606 002 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 magnitude as given in catalogue wavelength band as given in catalogue IFU vignetted T or not vignetted F science 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 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 ax
46. 6 263129 770001 36 911856 4 617024 232 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 0CS OCS 0CS OCS 0CS 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS OCS 0CS 0CS 0CS 0CS OCs 0CS 0CS OCS 0CS 0CS OCS OCS OCS 0CS 0CS 0CS 0CS 0CS 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 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 THETA TYPE VIGNET COMMENT NAME ALPHA DELTA Y Z R THETA TYPE HIT COMMENT NAME ALPHA DELTA X 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 403710 263136 390004 94 375123 8 513928 178 753107 6 669102 tOu 4 4
47. 7 1 R 9 19 wy M4_061 162340 101000 263139 770000 36 911856 617024 801412 059176 1 RB 8 71 wy F M4_060 162347 404000 263146 390000 94 375123 8 513928 178 753107 6 669102 1 Ru 8 92 Jn M4_055 162340 856000 263121 560000 42 854578 6 058593 228 344666 we HH HH HH HH H HOF OF OF HH HH HH H HH HF H 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 De
48. 711066 1 nor 10 59 gj M4_022 162333 263112 11 11 254 974000 660000 300129 280224 176470 466646 1 o 10 53 ngn F M4_019 162322 263000 99 53 158 4 783000 160000 381443 767164 037166 224863 1 nor 10 56 HH HH HH H H OF OF OF HH HH HH HH H HOF FH OF 5H H 5H COMMENT marker position NAME ALPHA Z R M4_033 162333 263134 18 023000 760000 782705 677557 630596 936983 1 KARMA User Manual 65 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 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 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
49. 82 Max 390 099 Bitpix Low 3 10894 IN Auto Set Cut Levels Scale 143x m zizi Figure 12 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 ob
50. 94903 distance of arm tip from arm axis OCS ARM24 SCI THETA 0 377142 angular move of arm OCS ARM24 SCI PRIOR 1 target priority OCS ARM24 SCI TYPE 0 target type science 0CS ARM24 SCI MAG 9 68 magnitude as given in catalogue 0CS ARM24 SCI BAND J wavelength band as given in catalogue OCS ARM24 SCI VIGNET F IFU vignetted T or not vignetted F OCS ARM24 SCI COMMENT ME 22222 Arm configuration at second Sky position OCS TARG SKY ALPHA 162335 223729 telescope pointing RA OCS TARG SKY DELTA 263119 399962 telescope pointing Dec 0CS ROT SKY OFFANGLE 7 500000 rotator angle OCS ARM1 SKY NAME ARM1_SKY name id of catalogue entry OCS ARM1 SKY ALPHA 162339 713057 target RA OCS ARM1 SKY DELTA 262910 209679 target Dec OCS ARM1 SKY Y 25 149100 y position of arm tip in device system 0CS ARM1 SKY Z 79 706713 z position of arm tip in device system OCS ARM1 SKY R 186 877826 distance of arm tip from arm axis OCS ARM1 SKY THETA 2 228802 angular move of arm OCS ARM1 SKY TYPE S target type sky background OCS ARM1 SKY HIT bright object s hitting the arm OCS ARM1 SKY COMMENT corresponds to M4_037 OCS ARM2 SKY NAME ARM2_SKY name id of catalogue entry OCS ARM2 SKY ALPHA 162336 729689 target RA OCS ARM2 SKY DELTA 263033 112222 target Dec OCS ARM2 SKY Y 8 208126
51. 95 168 1 969000 080000 888012 459355 107181 150209 1 R 8 61 Tu Ma 053 162336 263020 9 42 229 577000 040000 184491 131627 892040 642493 1 RU 9 35 au Ma 064 162336 263039 9 30 246 4 672000 780000 931683 557958 454031 857618 1 a 8 82 Je F M4_051 162329 510000 HH HH HH FH OH OH OF OF OF HH HH HH HH FH H HOF OF OF FH HH HH H OH HF 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 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 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
52. ALPHA DELTA Y Z R THETA TYPE VIGNET COMMENT NAME ALPHA DELTA yX 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 KARMA User Manual S target type sky background bright object s hitting the arm corresponds to M4_016 ARM12_SKY 162334 263121 561059 355796 020259 817594 517446 620699 TOY F 3 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 IFU vignetted T or not vignetted F corresponds to M4_001 ARM13_SKY 162325 263301 65 69 184 10 821478 603087 512718 075474 292678 660397 wl sH 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_007 ARM14_SKY 162334 263144 lt 3 15 254 499252 929209 698100 583987 071881 368113 ol F 3 3 3 3 3 3 3 3 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 dista
53. CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS 0CS 0CS OCS 0CS 0CS 0CS OCS 0CS 0CS OCS 0CS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARM9 ARM9 ARM9 ARM9 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM10 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM11 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 ARM13 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 R THETA TYPE VIGNET NAME ALPHA DELTA ef Z R THETA TYPE HIT KARMA User Manual 61 228 704142 distance of arm tip from arm axis 3 918552 angular move of arm ARM 162324 263218 86 33 180 6 ol 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 gl 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
54. CS OCS OCS ocs 0CS 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 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 263029 9 30 246 4 671969 780000 931683 557958 454031 857618 ol F HH HH H H 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 type sky background IFU vignetted T or not vignetted F corresponds to M4_064 ARM5_SKA 162329 262901 46 82 176 4 510143 630001 441702 236410 979821 283103 gu 5H 5H 5H 5H name id of catalogue entry targ
55. FAE Figure 4 Main window and control panel after the start of a new KARMA session If not already done run karma to start KARMA It is probably recommendable to do this in 3In addition to the standard behaviour described in this manual KARMA provides 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 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 KMOS 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 therefore creating a completely new KARMA session by selecting New 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
56. G BAND VIGNET COMMENT NAME ALPHA DELTA Y Z R THETA PRIOR ARM16_SCI 162338 226247 263404 210058 22 152327 301002 543362 4 378729 tou we ve ve ve ve ve ve ve we HH HH H HOF OF F COMMENT corresponds to M4_027 M4_023 162336 587000 263229 450000 9 260292 33 741969 237 959456 3 178506 1 or 10 54 wy M4_088 M4_018 162335 639000 263154 480000 1 801858 13 238750 260 681005 2 067842 1 or 9 87 WU F M4_043 162350 358000 263247 830000 117 601265 546625 354648 527625 1 A Ve ve ve ve ve ve ve ve vs vs ve us we HH HH HH HH OH OH OF 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 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 ti
57. HA 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 BAND VIGNET COMMENT NAME ALPHA or IEN M4_020 162338 263203 27 18 240 925000 500000 656731 528784 614543 516980 1 or 10 46 nn F M4_036 162343 263153 61 12 211 5 213000 910000 397007 912331 838836 639118 1 or 9 96 1 E M4_024 162339 263111 32 11 235 488000 440000 090571 993654 765459 291586 1 g 9 86 ugn F M4_040 162342 797000 HH HH HH FH OH HOF OF OF HH HH HH HH HH H OH OF OF OF we FH HH HH H OH HF OF OF KARMA User Manual 69 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 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
58. 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 OCS OSS VER 2 1 KARMA release number 0CS 0OSS REVISION 243415 KMOS SVN revision number TPL MODE OBS NOD_TO_SKY sky background subtraction mode TPL MODE ACQ FROM_REFERENCE acquisition mode SSS SSS Se oS Se eS EL IL IS ass canon ol El E22 200 Se Se oo oo sa Path for PAF file within INS TPL FILE DIRNAME INS_ROOT SYSTEM MISC Switch on off arm initialisation in templates OCS ARMS INIT F Initialise arms T or just park F Potential Instrument Guide Stars TEL GS1 ALPHA 162358 351000 RA TEL GS1 DELTA 263539 050000 Dec TEL GS1 MAG 9 85 magnitude as given in catalogue 0CS GS1 BAND J wavelength band as given in catalogue VLT MAN KMO 146606 002 TEL TEL TEL 0CS 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 162322 654000 262622 130000 9 74 yt 162354 405000 262553 840000 9 81 wy 162359 464000 262757 290000 8 24 wy 162259 947000 263234 120000 9 80 J
59. 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 is necessary 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 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
60. 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 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 example catalogue M4 cat simply by clicking the button in the control panel figure 6 and choosing the appropriate file from the standard file dialogue 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 Disable items i e catalogue entries except the field centre via a context menu that you get by clicking on 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 correspo
61. MO 146606 002 KARMA User Manual 41 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 aremin 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 27 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 behaviour 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
62. O O OO 10 20 29 16 58 25 46 07 16 e RR 00 RR RR RR Co e Co Co Co Co RR e RR RR RR Co Co Co ee eerrrrrrrrrrrrererrrrerrrrrrrrrrrererrrerrrrrrerrrrererr EE PSP eee Hr VLT MAN KMO 146606 002 marker position VLT MAN KMO 146606 002 KARMA User Manual 51 M4 076 16 23 22 654 26 26 22 13 G 9 74 J 1 M4 077 16 23 14 598 26 30 46 92 G 9 50 J 1 M4_078 16 23 53 756 26 34 42 67 G 8 93 J 1 M4_079 16 23 58 351 26 35 39 05 G 9 85 J 1 M4 080 16 23 16 730 26 34 28 00 G 8 85 J 1 M4_081 16 23 53 581 26 34 15 15 G 9 67 J 1 M4_082 16 23 49 804 26 33 58 91 G 8 34 J 1 M4 083 16 23 57 469 26 32 24 77 G 9 82 J 1 M4_084 16 23 13 952 26 33 24 48 G 9 07 J 1 M4 085 16 23 23 819 26 34 29 76 B 7 01 J M4_086 16 23 38 470 26 33 19 25 B 6 97 J M4_087 16 23 35 942 26 31 00 90 B 7 51 J M4_088 16 23 39 274 26 33 05 97 B 6 97 J 52 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 06 21_NodToSky_M4_demo ins PAF NAME KARMA 2013 06 21 NodToSky M4 demo ins PAF DESC KARMA PAF output PAF CRTE NAME KMOS OSS PAF CRTE DAYTIM 2013 06 21T12 48 45 PAF LCHG NAME as PAF LCHG DAYTIM ni PAF CHCK NAME KMOS OSS PAF CHCK DAYTIM 2013 06 21T12 48 45 PAF CHCK CHECKSUM 804441615 PAF
63. P 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 look 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 KMOS Load PAF see next section 12 for more details In case of severe defects wrong checksum missing additional stri
64. SS 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 you 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 11 and the main window
65. 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 26 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 In step 5 you have to perform three tasks 1 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 Furthe
66. _048 NAME ALPHA DELTA N Z R THETA TYPE VIGNET COMMENT NAME ALPHA DELTA N Z R THETA TYPE HIT COMMENT NAME ALPHA DELTA Y Z R THETA TYPE HIT COMMENT ARM 162331 263301 31 58 222 10 10_SKA 427096 040001 333927 128201 747003 793154 ou F 3 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_050 ARM 162330 263314 40 65 199 7 11_SKA 207126 130001 930268 804353 345401 868197 ol 3 3 3 3 3 3 3 3 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_063 ARM 162335 263222 i 35 236 2 13_SKA 200005 330000 652207 430353 940053 910817 woe Ve ve ve ve ve ve HH H HHHH we 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 correspon
67. 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 Mosaic 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 File 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 P2P
68. ble 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 10 11 12 13 VLT MAN KMO 146606 002 KARMA User Manual 47 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 target 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
69. c 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 ARM22 ACQ THETA 2 711510 OCS ARM22 ACQ PRIOR is OCS ARM22 ACQ TYPE Rs OCS ARM22 ACQ MAG 9 31 OCS ARM22 ACQ BAND Jr os 0CS ARM22 ACQ VIGNET F OCS ARM22 ACQ COMMENT Mus OCS ARM24 ACQ NAME Ma 056 OCS ARM24 ACQ ALPHA 162344 054000 OCS ARM24 ACQ DELTA 263006 140000 OCS ARM24 ACQ Y 68 032056 OCS ARM24 ACQ Z 50 271884 OCS ARM24 ACQ R 190 142965 OCS ARM24 ACQ THETA 7 059896 OCS ARM24 ACQ PRIOR ES OCS ARM24 ACQ TYPE R 3 OCS ARM24 ACQ MAG 8 77 OCS ARM24 ACQ BAND Jos OCS ARM24 ACQ VIGNET F OCS ARM24 ACQ COMMENT SA 5 Arm configuration at acquisition sky KARMA User Manual 59 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 OCS TARG SKA ALPHA 162335 410000 telescope pointing RA OCS TARG SKA DELTA 263121 900000 telescop
70. cated config urations known as Mosaic mode where the individual IFUs 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 13 third column For the two existing predefined configurations the participating arms are allocated to fixed positions forming a 6x4 or a 4x2 array Figure 14 and figure 15 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 4 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 t
71. d 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 to Sky and Stare see section lt 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 _ celestial positions in advance that are particularly suitable for sky background subtrac tion 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 X type of observation you are going to prepare Although up to 5 VLT guide star candi dates 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 tha
72. 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 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 plane 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
73. ds to M4_065 62 OCs 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS OCS OCs 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS 0CS 0CS 0CS 0CS OCs 0CS OCS 0CS OCs 0CS 0CS 0CS 0CS OCS OCs 0CS OCS OCS 0CS 0CS 0CS OCs 0CS 0CS OCS 0CS 0CS KARMA User Manual ARM15 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 ARM20 ARM20 ARM20 ARM20 ARM20 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 397903 263444 330000 31 365418 118 687542 149 052993 6 009651 won VLT MAN KMO 146606 002 name id of catalogue entry target RA target Dec y position of arm tip in device system
74. e you can fix telescope 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 not recommended or the appropriate warning 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 mode 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 19 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 listi
75. e 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 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 ARMS SKA NAME ARM3 SKA name id of catalogue entry OCS ARM3 SKA ALPHA 162336 576972 target RA OCS ARM3 SKA DELTA 263010 040000 target Dec OCS ARM3 SKA Y 9 184491 y position of arm tip in device system OCS ARM3 SKA Z 42 131627 z position of arm tip in device system OCS 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 60 OCS 0CS OCS 0CS 0CS OCS 0CS 0CS 0CS OCS 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS OCS 0CS 0CS 0CS 0CS 0CS OCS 0CS OCS 0CS 0CS 0CS 0CS 0CS OCS 0CS OCS OCs 0CS 0CS 0CS OCS 0
76. e three observation modes configurable by KARMA Nod to Sky 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 In 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 13 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 23 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 o
77. 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 reachable targets and exclude those outside FoV Restrict to the highest available priority class 30 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 5 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 fit
78. ed 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 67 68 0CS 0CS OCS OCS 0CS OCs OCs 0CS 0CS OCS 0CS 0CS 0CS 0CS OCS 0CS 0CS 0CS OCS 0CS 0CS OCS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS OCS 0CS 0CS OCS OCS 0CS 0CS 0CS 0CS 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 SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI HIT COMMENT NAME ALPHA DELTA Y Z R THETA TYPE VIGNET NAME ALPHA DELTA Y Z R THETA PRIOR TYPE MAG BAND HIT COMMENT NAME ALPHA DELTA Y Z R THETA PRIOR TYPE MA
79. ed 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 7 You get it via the context menu right mouse button on list item and Edit too Editing of disabled entries and allocated targets is not allowed 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 16 KARMA User Manual Position RA 16 2 Dec 26 Brightness Magnitude Band Type O science target R reference target S sky target _1 G guide star 1 B bright object 1 M marker position Priority wil 8225 Comment OK Essa Figure 7 Dialogue window that allows for the editing of catalogue has been loaded It should be used only in exceptional cases VLT MAN KMO 146606 002 entries after the catalogue file 0 o 16 23 35522 6 26 27 32 92 Equinox 2000 Min 0 Max 0 Bitpix 8 Low 0 High 0 Auto Set Cut Levels Scale 1x _ ziel Help E 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 positi
80. eous 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 exceptional cases Upper arms vX m Basic colours Custom colours gt wras v SX EE ER Field of view a x EEN Science targets priority 1 SX DE Science targets priority 2 HM rere FE Science targets priority 3 HH Ghia star zana ENE Reference targets HH F y z axes 4 Margin m Selected colour Sky targets 4 Grid 4 Shadow Red 110 Allocated targets E Numbers Green 160 Bright objects Ly Blue 2105 OK Apply Save Cancel oK Cancel Figure 5 Dialogue windows allowing some simple adjustments of GUI appearance The colour dialogue right pops up if you click into the colour fields of the GUI preferences dialogue left You can activate the GUI preferences dialogue by means of the KMOS Preferences menu item and either Apply your settings for the actual session only or make them permanent by clicking the 12 KARMA User Manual VLT MAN KMO 146606 002 button In the latter case they are stored in a dedicated file karma pref under subdirectory
81. eps START KARMA mode entry open control panel exit close control panel do handle user input RTD mode entry do nothing New exit clear image e do handle user input Abort E o u c Oo E q su 3 TS S 0 Next acquisition x from reference za Back acquisition Neg from reference Back acquisition from science Mosaic Main window closed END Figure 29 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 displayed anymore The other ones have been removed from the in
82. es 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 and 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 l
83. 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_051 ARM6_SKA 162329 263019 49 36 208 0 124152 760001 470739 427880 579878 333948 ol F HH HH H HH OF 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 263059 110 13 165 10 398339 390005 263684 172618 829714 431875 gol 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 ARMS SKA 162329 263139 43 10 880134 010001 512684 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 0CS 0CS 0CS OCS OCs OCs OCS 0CS 0CS OCS 0CS 0CS 0CS 0CS 0CS OCS OCS OCS 0CS 0CS OCS OCS 0CS 0
84. ff arm configuration remains unchanged Since it 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 13 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 13 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 13 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 dedi
85. 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 these 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 Use underscores instead e RA and Dec Right ascension a and declination of the object or position Both decimal degrees and HH MM SS XXX for a or DD MM SS XX for formats are accepted For all po sitions the usage of equinox J2000 is mandatory this information therefore needs not be provided explicitly According to the require
86. from arm axis angular move of arm target priority target type magnitude as given in catalogue wavelength band as given in catalogue bright object s hitting the arm science name id of catalogue entry target RA target Dec VLT MAN KMO 146606 002 0CS 0CS 0CS 0CS ocs 0CS 0CS 0CS 0CS OCS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS 0CS 0CS 0CS OCS 0CS 0CS OCS 0CS 0CS 0CS 0CS 0CS OCS 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS 0CS 0CS 0CS OCS 0CS 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 SCI SCI SCI SCI 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 BAND VIGNET COMMENT NAME ALPHA DELTA Y Z R THETA PRIOR TYPE
87. get priority target type reference magnitude as given in catalogue wavelength band as given in catalogue IFU vignetted T or not vignetted F 58 0CS 0CS 0CS OCS 0CS 0CS 0CS OCS 0CS OCS 0CS OCS 0CS 0CS OCs 0CS 0CS 0CS OCs 0CS 0CS OCs 0CS 0CS 0CS 0CS 0CS ocs 0CS 0CS 0CS 0CS 0CS OCS 0CS OCS OCs 0CS 0CS 0CS OCs OCS OCS OCS 0CS 0CS 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 92151
88. ich 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 karma from any directory the KARMA main window should open up 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 10 KARMA User Manual VLT MAN KMO 146606 002 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 KARMA 2 1 no image KARMA Control panel se ES Se Se Step 1 Load catalogue Catalogue file undefined oa Y R entries Value g i 8 Equinox Es Min 0 Max 0 Bitpix 8 Auto Set Cut Levels m
89. ies primarily were introduced having only science targets in mind for consistency reasons they are allowed for reference and sky targets as well e Any comment Since this is if existing always the last column it can be abitrarily long can include whitespaces but must not contain quotes All columns must be separated by whitespaces 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 VLT MAN KMO 146606 002 KARMA User Manual 15 ASCII files may 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 Furthermore in case of other serious deficiencies no centre given no guide star
90. ike 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 position By zooming into the main window you can check that the target symbol is really centred within the IFU 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 32 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 M
91. ion 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 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 wh
92. ions 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 intention 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 througho
93. is 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 VLT MAN KMO 146606 002 OCS 0CS OCS 0CS 0CS 0CS 0CS 0CS 0CS OCS OCS OCS 0CS 0CS OCS 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS OCs 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS 0CS OCS 0CS OCS OCS 0CS 0CS 0CS 0CS OCS 0CS OCS 0CS 0CS ARMS 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 sY SCI R THETA PRIOR TYPE MAG SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI ALPHA DELTA A SCI SCI THETA PRIOR TYPE MAG BAND VIGNET SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI DELTA Y SCI R THETA PRIOR SCI MAG HIT SCI SCI SCI SCI SCI SCI SCI SCI SCI SCI DELTA Y SCI SCI THETA PRIOR SCI SCI SCI SCI NAME ALPHA DELTA Z BAND HIT COMMENT NAME Z R COMMENT NAME ALPHA Z TYPE M4_017 162327 263044 66 27 210 g 006000 450000 137021 811100 693347
94. jects to retrieve and process If a query delivers more than 500 sources KARMA 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 22 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 13 below Nod to Sky Stare Mosaic Telescope at Science position Telescope at Sky position Figure 13 Schematics of th
95. k 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 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 28 KARMA User Manual VLT MAN KMO 146606 002 combinations Moreover the target arm assignment is subject to several additional constraints 1 The travel
96. 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 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 butt
97. like in figure 12 a Step 3 Identify bright objects Search 2MASS catalog Search radius arcmin 5 00 ii Point J band magnitude limit 12 00 v Extended Bright objects RA J2000 Dec J2000 116233927 2633059 16 23 39 274 26 33 05 97 B 16233846 2633192 16 23 38 470 26 33 19 25 B M4_086 16 23 38 470 26 33 19 25 B M4_088 16 23 39 274 26 33 05 97 B Ma 085 16 23 23 819 26 34 29 76 B 16232381 2634297 16 23 23 819 26 34 29 76 B 16233088 2627040 16 23 30 884 26 27 04 02 B 116233594 2631008 16 23 35 942 26 31 00 90 B M4 087 16 23 35 942 26 31 00 90 B 16234980 2633589 16 23 49 804 26 33 58 91 B 8 34 16233939 2634543 16 23 39 398 26 34 54 33 B 116231655 2632095 16 23 16 558 26 32 09 57 B 16234879 2635093 16 23 48 799 26 35 09 30 B 116232912 2630297 16 23 29 124 26 30 29 76 B 8 59 16233996 2628490 16 23 39 969 26 28 49 08 B 16233142 2633110 16 23 31 427 26 33 11 04 B 16234010 2631397 16 23 40 101 26 31 39 77 B 116233535 2632225 16 23 35 355 26 32 22 53 B R MAEPRAANE DEZNNEA 16 92 AA NBA PENNEG AA EE E E L 4 8 61 8 63 8 71 8 75 Figure 11 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 21 KARMA 2 1 M4 fits 26 27 30 77 Equinox 2000 Min 3 110
98. llowing 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 20 enables you to give additional information like PI name ID of observing run etc Finding Chart information Run ID 092 8 1234 8 PI Name K Moser List of OBs 081 Band Wavelength pe of this chart Location of info top left corner Text color black md Redraw Save Print Clear Figure 20 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 21 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 KMOS Preferences Finding charts can be created at any time during a KARMA session Thus you can also postpone this task until your setup is complete i e until step 8 section 11 If eventually you are done with the current
99. logue 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 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 excatly 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 In 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 clic
100. n a certain limiting magnitude optional Can also be defined during 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 M Marker position optional Can be used to mark a certain 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 14 KARMA User Manual VLT MAN KMO 146606 002 Catalogue entries can be of more than a single type Table 3 shows the possible combinations o R S B KI NINIS SINNIN Viv x SNNNNNE x Viv io Viv io sj0Q DW on Mm 080 NINN X 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 comp
101. n task is already done See figure 26 Here the four red circles indicate the KMOS FoV at science sky acquisition and acquisition sky 40 KARMA User Manual VLT MAN KMO 146606 002 Figure 26 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 M4 066 16 24 06 542 26 28 17 75 M4_072 16 23 37 418 26 38 23 83 M4_068 16 23 34 148 26 23 53 87 M4_070 16 24 00 905 26 35 53 13 SSD o 4440444040 X RR X RA J2000 Dec J2000 Type mag Band Pri C RA J2000 Dec J2000 Type mag Band Pri C M4_079 16 23 58 351 26 35 39 05 M4_076 16 23 22 654 26 26 22 13 M4_071 16 23 54 405 26 25 53 84 M4_067 16 23 59 464 26 27 57 29 Figure 27 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 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 K
102. nce 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 054431 159367 183825 446601 762857 154085 ol Ve ve ve Ve ve ve H HH H FH H HF 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_004 M4_027 name id of catalogue entry 162336 534000 target RA 74 0CS OCS 0CS OCS Ocs 0CS 0CS 0CS OCS 0CS OCS OCs 0CS 0CS 0CS OCS 0CS 0CS 0CS OCs ocs 0CS 0CS OCs 0CS OCS 0CS OCS 0CS 0CS 0CS 0CS 0CS 0CS 0CS OCS OCS 0CS 0CS 0CS 0CS 0CS OCS OCS 0CS 0CS KARMA User Manual ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM16 ARM17 ARM17 ARM17 ARM17 ARM17 ARM17 ARM17 ARM17 ARM17 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
103. nding 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 Control panel DO Fee Step 1 Load catalogue Catalogue file M4 cat Clear Catalogue entries RA J2000 Dec J2000 Type mag Band Pri 4_000 16 23 35 440 26 31 31 90 C k f 4 001 16 23 34 772 26 31 35 00 O 10 21 J M4 002 16 23 23 058 26 33 32 26 O 10 32 J 4 005 16 23 21 150 26 31 59 89 O 10 45 J 4_004 6 23 33 861 26 34 19 81 O 9 72 J 4_005 16 23 28 460 26 32 54 14 O 10 41 J 4 M4 006 6 23 33 130 26 30 56 88 0 10 14 J 4_007 6 23 27 082 26 33 29 700 O 10 54 J 4_008 6 23 26 942 26 31 31 32 O 9 54 J 4_009 6 23 36 453 26 30 43 37 0 9 98 J i 4_010 6 23 38 571 26 30 38 07 O 10 16 J 1 4_011 6 23 20 899 26 34 36 888 O 10 54 J 1 Ma_012 6 23 27 418 26 30 59 56 O 10 23 J 4 MA 013 6 23 34 940 26 31 58 48 0 10 54 J M4 014 16 23 40 986 26 31 30 20 O 9 92 J Ma 015 6 23 31 959 26 31 45 74 0 40 35 J MA 016 16 23 23 543 26 33 41 28 O 10 29 J MA 017 16 23 27 006 26 30 44 45 0 10 59 J M4 018 16 23 35 639 26 31 54 48 O 9 87 J 1 2 019 16 23 22 783 26 30 00 16 OM 10 56 x mp A Baek Mort em L d Figure 6 Control panel after having loaded the example input catalogue M4 cat If you want to change a particular catalogue entry it is highly recommend
104. ng 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 not necessarily be as visible as on screen but you can adjust them suitably through the Preferences dialogue See subsection 3 5 for this purpose VLT MAN KMO 146606 002 KARMA User Manual 33 5 onfigurat M r Figure 19 An example hardcopy of the current arm configuration 34 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 attached to OBs via the P2PP tool For the KMOS specific finding chart rules in Phase 2 OB preparation please consult the fo
105. ng 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 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 KMOS 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 Next now Better You should It is strongly recommended 44 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 29 illustrates the transitions between the different preparation st
106. nstalled 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 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 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 installed on your computer With these prerequisites at hand you can now set to work on the KARMA installat
107. nvisaged 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 2 At the time of writing no other platform is supported Particularly there is no KARMA for Windows or Vista 6 KARMA User Manual VLT MAN KMO 146606 002 KARMA Session gt RE Finding chart z required Nod to Sky CSE observing modo Sire or Mosaic START Session state shall be stored TR acquisition step necessary acquisition possible from science config targets still add PAS targets assigned gt 0 END Figure 2 The typical sequence of steps in a KARMA session Finding charts and XML files can be created optionally at any time 5 This is the main step and the actual KARMA task section 8 a You fix telescope position and instrument rotator angle at 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
108. ny 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 same 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 8 2 3 Manual Allocation As asupplement 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 do
109. o enable smooth transitions between the individual 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 14 and 15 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 14 this is between row 2 and 3 and column 3 and 4 repectively 24 KARMA User Manual VLT MAN KMO 146606 002 10 8 2 8 R O O O E AA wre A ol E E E O m O n O E E E E m q E m O O O m Vio o y 4 9 e 64 3 gt 129 7 e gt Figure 14 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 8 1 16 3 32 5 4 32 5 64 9 gt Figure 15 The small Mosaic configuration which requires 9 telesc
110. o le a ee ee RS SD 2 1 4 Reference documents 2 2 ee 2 1 5 Web links and contact information 0 0 0000002 a ead a eee 3 LO Aknowledgements cura 554446645 444 e DE wa be Ew he eR ee 3 2 An overview of KARMA 4 2 1 The role of KARMA within the VLT Data Flow System 4 22 Whatyoume d x 22k ss bee eae ee SE ee RR A ee eee GS eee ee 5 2 3 What you actually do with KARMA 02 20200205000 5 24 What you get lt e iaar see AA SERA ER ee Ree eae ee 7 3 Getting started 8 3 1 Obtaining the KARMA package s e cc donto casaca tee Gosa p eee ee eee 8 3 2 Building and installing KARMA from the source distribution 8 3 3 Installing a KARMA binary distribution 2 22 2 oo a 9 3 4 Starting KARMA Coon a e e 10 3 5 Adapting the graphical user interface 2 2 a nn nn 11 30 The crample Hes gs d OR BA Sa a aan ai her 12 4 Step 1 Prepare and load catalogue 13 5 Step 2 Load image 17 6 Step 3 Identify bright objects 20 7 Step 4 Choose observing mode 22 Mel Nod DO Bry Diode 2 u nn aa ee ara er a ed ee SD 22 Tye Diare WORE zn ce hae hte a eee ED Gee oe ee ae ae 23 Ta Moste mole sasse edea ee eee ele ea ADE ede be Ph eG kee dees 23 7 4 Switching between the modes 0 nn 25 8 Step 5 Define arm configuration for science observation 26 8 1 Fixing telescope position and instrument rotator angle 2 2 2 m nn nennen 27 8 2 Allocating the pick off arms 2 Ko mE nn nen 27 82
111. o 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 VLT MAN KMO 146603 001 KMOS User Manual See also link in subsection 1 5 VLT MAN ESO 19200 5167 P2PP User Manual See also link in subsection 1 5 VLT MAN KMO 146606 003 KARMA Programming and Maintenance Manual oa A Ww N Kuhn H W The Hungarian Method for the assignment problem Naval Research Logistics Quarterly 2 1955 83 6 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 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
112. 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 56 OCS 0CS OCs ocs 0CS 0CS 0CS OCS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS OCS OCS 0CS 0CS OCS OCS 0CS 0CS 0CS OCS 0CS OCS 0CS 0CS 0CS 0CS 0CS OCS 0CS OCS OCs 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS KARMA User Manual ARM3 ACQ BAND Mg ARM3 ACQ VIGNET F ARM3 ACQ COMMENT wt ARM9 ACQ NAME M4_048 ARM9 ACQ ALPHA 162324 374000 ARM9 ACQ DELTA 263228 490000 ARM9 ACQ Y 86 828227 ARM9 ACQ Z 33 194509 ARM9 ACQ R 180 873476 ARM9 ACQ THETA 6 851374 ARM9 ACQ PRIOR 1 ARM9 ACQ TYPE R ARM9 ACQ MAG 9 44 ARM9 ACQ BAND IN ARM9 ACQ HIT a ARM9 ACQ COMMENT N ARM10 ACQ NAME M4_050 ARM10 ACQ ALPHA 162331 427000 ARM10 ACQ DELTA 263311 040000 ARM10 ACQ Y 31 333927 ARM10 ACQ Z 58 128201 ARM10 ACQ R 222 747003 ARM10 ACQ THETA 10 793154 ARM10 ACQ PRIOR 1 ARM10 ACQ TYPE R ARM10 ACQ MAG 8 63 ARM10 ACQ BAND Je ARM10 ACQ VIGNET F ARM10 ACQ COMMENT Me ARM11 ACQ NAME M4_063 ARM11 ACQ ALPHA 162330 207000 ARM11 ACQ DELTA 263324 130000 ARM11 ACQ Y 40 930268 ARM11 ACQ Z 65 804353 ARM11 ACQ R 199 345401 ARM11 ACQ THETA 7 868197 ARM11 ACQ PRIOR 1 ARM11 ACQ TYPE R ARM11 ACQ MAG 9 25 ARM11 ACQ BAND ae ARM11 ACQ HIT a ARM11 ACQ COMMENT AF ARM13
113. onal 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 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 reasona
114. onents 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 FITS header at observation time 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 priorit
115. ons and z 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 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 calibration 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 terapix iap fr rubrique php id_rubrique 49 the catalogues are assembled from the 2MASS online catalogue In the following sections the M4 example will be used for the tutorial VLT MAN KMO 146606 002 KARMA User Manual 13 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
116. ons 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 VLT MAN KMO 146606 002 KARMA User Manual 17 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 However in no way it 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
117. ope 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 25 7 4 Switching between the modes KARMA Control panel Figure 16 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 16 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 position At rotator angle 0 these are equivalent to shifts in RA and Dec respectively
118. or 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 Phase2 _ Program Post proposal prep observing preparation execution observation Observer s home FITS frames A Scientific Apply or objective observing gt time Wee Phase 1 R proposal A Prepare E Observation E esp Block s E Na JS A Zu Execute daytime 7 calibrations Ed a Execute OB s Figure 1 Main steps of a typical KMOS observation The highlighted steps are covered by this VLT Paranal ESO 2 manual After having successfully applied for KMOS time you must organise your planned observations into
119. osaic 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 senseless 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 anymor
120. p 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 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 0CS 0CS 0CS 0CS 0CS 0CS OCs 0CS 0CS OCS 0CS OCS 0CS 0CS 0CS 0CS 0CS OCs 0CS 0CS 0CS OCS 0CS OCS 0CS 0CS 0CS OCS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS 0CS OCS 0CS 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 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 TYPE MAG BAND HIT COMMENT NAME ALP
121. r angle a t Q RA 16 23 35 410 3 Tt Q RA 16 23 35 410 e Dec 26 34 31 50 Gea med Dec 26 31 21 90 O 4 amp Rot angle deg 0 00 O 4 a Rot angle deg 0 00 Algorithm Rules Action Algorithm Rules Action 2 za IE a E x BE x ES A v pd x BE Statistics Statistics Arms Priol Prio2 Prio3 Total Arms Priol Prio2 Prio3 Total on science targets 0 0 0 o on science targets 0 0 0 0 on reference targets 0 0 0 0 on reference targets 0 0 0 0 on sky targets 0 0 0 0 on sky targets 19 0 0 19 free 24 free 5 Back Abort Back Abort Next k A M4 fits mso 25950 12 2788 16 23 32 230 28 28 53 00 Equinox Min Max Bitpix Low High KMOS ooo 3 11082 390 099 32 3 10894 120 Auto Set Cut Levels Scale 143x Z z E image select object scroll image measure WCS Control select region Figure 24 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 39 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 s
122. ready 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 Allocate 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 18 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 Reset 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 those 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
123. rmore 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 17 There are two identical tabs captioned Science and Sky provided each of which KARMA Control panel KARMA Control panel 16 23 35 224 26 31 19 40 Hungarian m Avoid vignetting Allocate A StableMarriage m Avoid bright objects RE all A Manual Print A Mosaic Figure 17 The 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 walk 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 set
124. rupted 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 M4 cat Prepared Michael Wegner using the 2MASS catalog Last modified 2011 03 27 Entries retrieved via the 2MASS catalog web interface particular example 9 2 lt Jmag lt 10 55 for science targets 8 0 lt Jmag lt 9 20 for 8 0 lt Jmag lt 10 00 for Jmag lt 8 00 for bright objects Jmag gt 10 55 for marker positions a reasonable entry number for each type gets were set to 1 ID RA J2000 Dec J2000 Type M4_00
125. sition 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 14 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 interface 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 cor
126. step 5 go on and enter the one VLT MAN KMO 146606 002 KARMA User Manual 35 Figure 21 KARMA finding chart in JPEG Apart from the current pick off arm configuration some additional information is plotted here Colours have been adjusted appropriately 36 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 No additional action is necessary during observation preparation in this case KARMA
127. talogue wavelength band as given in catalogue name id of bright object 4 magnitude as given in catalogue wavelength band as given in catalogue 53 54 KARMA User Manual VLT MAN KMO 146606 002 Arm configuration at acquisition target position 0CS 0CS ocs 0CS 0CS 0CS 0CS OCS 0CS OCS 0CS 0CS 0CS OCs 0CS OCS 0CS OCS 0CS OCS 0CS 0CS 0CS OCS 0CS OCS 0CS 0CS 0CS OCS OCs OCS 0CS 0CS OCs OCs 0CS 0CS 0CS 0CS 0CS OCS ocs 0CS ARMA ARMA ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARM1 ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARMS ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARM4 ARMS ARMS 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 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
128. tars bright enough brighter 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 25 All the still existing symbols indicating a potential guide KARMA 2 1 M4 fits Bitpix Low 3 E image select object scroll image measure WCS Control select region Figure 25 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 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 allocatio
129. tem 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 263300 117 305224 866472 601265 546625 354648 527625 wl 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_043 ARM20_SKY 162338 263156 27 18 401231 887182 656731 528784 3 3 sH 3 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 VLT MAN KMO 146606 002 OCS ARM20 SKY OCS ARM20 SKY OCS ARM20 SKY OCS ARM20 SKY OCS ARM2O SKY OCS ARM21 SKY OCS ARM21 SKY OCS ARM21 SKY OCS ARM21 SKY OCS ARM21 SKY OCS ARM21 SKY OCS ARM21 SKY OCS ARM21 SKY OCS ARM21 SKY OCS ARM21 SKY OCS ARM22 SKY OCS ARM22 SKY OCS ARM22 SKY OCS ARM22 SKY OCS ARM22 SKY OCS ARM22 SKY OCS ARM22 SKY OCS ARM22 SKY OCS ARM22 SKY OCS ARM22 SKY OCS ARM23 SKY OCS ARM23 SKY OCS ARM23 SKY OCS ARM23 SKY OCS ARM23 SKY OCS ARM23 SKY OCS ARM23 SKY OCS ARM23 SKY OCS ARM23 SKY OCS ARM23 SKY
130. ternal 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 principle run through the KARMA cycle again and again and prepare as many OBs as you want But you need not necessarily do this instantaneously In case your catalogue is too large to finish all OBs and PAF files during a single session it is possible to interrupt KARMA VLT MAN KMO 146606 002 KARMA User Manual 45 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 KMOS Abort You then end up in the normal RTD mode see figure 29 If you close the main window
131. 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 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 31 2 Begin with a
132. ting 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 the 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
133. tings both for the and the VLT MAN KMO 146606 002 KARMA User Manual 27 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 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 cata
134. ut 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 information 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 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 catalogue 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 additi
135. ut the text a number of acronyms and abbreviations appear 2MASS Two Micron All Sky Survey ASCII American Standard Code for Information Interchange Dec Declination 2 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 RID Real Time Display TBD To Be Defined USM Universit tssternwarte M nchen University Observatory Munich VMMPS VIMOS Mask Preparation Software VLT Very Large Telescope 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 for 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 Button For GUI buttons to press Menu For menu items t
136. 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 22 This is the one you prepared in step 5 Arms configured for Science Telescope at Science position E l O W E E arms on I sky background e I 1 Telescope at Sky position Figure 22 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 37 9 2 Acquisition from reference targets If none of the cases above applies you are called upon to specify a dedicated acquisition configuration Arms configured for Acquisition Arms configured for Science r E
137. y PAF format which you can attach to the Observation Block s you create with the P2PP tool via the entry KARMA target setup file e One or more JPEG finding charts that have to be attached to Observation Blocks later on e Optional One or more PostScript files showing your actual arm configuration and corresponding position information e 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 recent 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 a typical 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 i

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