kmos operations and performance

KMOS operations and performance

Presentation to the KMOS Presentation to the KMOS ESO IST, 10ESO IST, 10thth May 2006 May 2006

KMOS IST meetingKMOS IST meeting, , ESO, 10ESO, 10tthtth May 2006 May 2006

KMOS operationsKMOS operationsKMOS operationsKMOS operations• Observation preparation Observation preparation

• Configuring the armsConfiguring the arms• Sky subtraction optionsSky subtraction options

• During the observationsDuring the observations• Source acquisitionSource acquisition• Observation of calibration starsObservation of calibration stars

• After the observationsAfter the observations• Daytime calibrationDaytime calibration• Post processing stepsPost processing steps


Setting the requirementsSetting the requirementsSetting the requirementsSetting the requirements• Performance requirements are specifiedPerformance requirements are specified

• Essential Essential • the design must be meet these requirements and the design must be meet these requirements and

is verified against themis verified against them• OptimalOptimal

• Achieving these represents a significant scientific Achieving these represents a significant scientific gain and our goal is for the design to meet thesegain and our goal is for the design to meet these

• DesirableDesirable • to be met if can be met with minimal impact on to be met if can be met with minimal impact on

the design/cost/schedulethe design/cost/schedule

• Not all requirements have multiple levelsNot all requirements have multiple levels


General operations General operations principlesprinciples

General operations General operations principlesprinciples

• Building on experience with NIR IFU Building on experience with NIR IFU instruments within the consortiuminstruments within the consortium• SINFONI, GNIRS, UISTSINFONI, GNIRS, UIST

• Building on ESO experience with the Building on ESO experience with the aim of producing an operational aim of producing an operational model compliant with ESO model compliant with ESO standards and practicestandards and practice

Preparation of the observations

Performance informationPerformance information

Configuration of the armsConfiguration of the arms

Sky subtraction modeSky subtraction mode


Req 3.5.1: ThroughputReq 3.5.1: Throughput Req 3.5.1: ThroughputReq 3.5.1: Throughput


Detector moduleDetector moduleHawaii RG2 arrays from Rockwell (2048x2048 Hawaii RG2 arrays from Rockwell (2048x2048

pixels), results from Gert Fingerpixels), results from Gert Finger

Detector moduleDetector moduleHawaii RG2 arrays from Rockwell (2048x2048 Hawaii RG2 arrays from Rockwell (2048x2048

pixels), results from Gert Fingerpixels), results from Gert Finger


Req 3.5.2: Instrument Req 3.5.2: Instrument thermal backgroundthermal background

Req 3.5.2: Instrument Req 3.5.2: Instrument thermal backgroundthermal background

• Design follows best Design follows best practice of light tight practice of light tight croystat, use of baffling.croystat, use of baffling.


Sensitivity modelSensitivity modelSensitivity modelSensitivity model


Arm configurationArm configurationArm configurationArm configuration• 24 arms (24 arms (req 3.5.12req 3.5.12) are configured ) are configured

within 7.2’ field (within 7.2’ field (req 3.5.9req 3.5.9) using ) using KARMAKARMA

• Fields of viewFields of view• 2.8arcsec x 2.8arcsec IFU fields (2.8arcsec x 2.8arcsec IFU fields (Req Req

3.5.103.5.10))• 0.2arcsec in both spatial directions (Req 0.2arcsec in both spatial directions (Req

3.5.9)3.5.9)• Anamorphic magnification in the IFUsAnamorphic magnification in the IFUs


Arm configurationArm configurationArm configurationArm configuration• Arms are configured using KARMAArms are configured using KARMA• Automatic configuration based on Automatic configuration based on

rules and rules and optionaloptional manual manual configurationconfiguration

• Input catalogue:Input catalogue:• source positions with prioritysource positions with priority

• Band 1 – highest priority, must be observedBand 1 – highest priority, must be observed• Band 2 – reduced priority, should be selected Band 2 – reduced priority, should be selected

over a Band 3 object over a Band 3 object • Band 3 – lowest priority, could be deselected Band 3 – lowest priority, could be deselected

with little loss to the programme.with little loss to the programme.


Arm configurationArm configurationArm configurationArm configuration• Input catalogue:Input catalogue:

• Positions of objects with priorityPositions of objects with priority• Positions of reference stars for acquisitionPositions of reference stars for acquisition• Position of guide starPosition of guide star• Optional positions for sky with priorityOptional positions for sky with priority• Optional positions of bright stars to avoidOptional positions of bright stars to avoid

• Input image:Input image:• RequiredRequired• Not used to derive object positionsNot used to derive object positions• Used to identify sky positionsUsed to identify sky positions


Arm configurationArm configurationArm configurationArm configuration• Set of rulesSet of rules

• No collisions between armsNo collisions between arms• Never violatedNever violated• Closest approach includes margin for Closest approach includes margin for

atmospheric refractionatmospheric refraction• No vignettingNo vignetting

• May be violated, flag set in the file headerMay be violated, flag set in the file header• Will avoid bright objects (K<12) hitting Will avoid bright objects (K<12) hitting

an arman arm• May be overridden in ‘manual’ modeMay be overridden in ‘manual’ mode


Requirements on arm Requirements on arm positioningpositioning


• Req 3.5.15Req 3.5.15: Close packing of target fields: Close packing of target fields• ≥ ≥ 10 fields within 1arcminute10 fields within 1arcminute

• Req 3.5.16Req 3.5.16: Simultaneous observations of : Simultaneous observations of close packed fieldsclose packed fields• ≥ ≥ 3 fields within more than one 1arcminute 3 fields within more than one 1arcminute

fieldfield• ≥ ≥ 10 fields10 fields within more than one 1arcminute within more than one 1arcminute

field, within a restricted patrol fieldfield, within a restricted patrol field


Access to clustersAccess to clustersAccess to clustersAccess to clusters




• Req 3.5.17Req 3.5.17: Closest approach of : Closest approach of target fieldstarget fields• 12 pairs of two target fields within 12 pairs of two target fields within

6arcsec edge-to-edge6arcsec edge-to-edge• Best seen in the mapping modeBest seen in the mapping mode


Fixed arm configurationsFixed arm configurationsFixed arm configurationsFixed arm configurations

• For observations of the calibration sourceFor observations of the calibration source• For observations of calibration starsFor observations of calibration stars• For mapping modeFor mapping mode


Mapping mode (Mapping mode (req 3.5.16req 3.5.16))Mapping mode (Mapping mode (req 3.5.16req 3.5.16))• Arms set to a regular Arms set to a regular

grid on the sky grid on the sky • Single configuration, Single configuration,

fixed by arm mech. fixed by arm mech. designdesign

• Telescope offsets to Telescope offsets to execute a jitter patternexecute a jitter pattern

• 0.75 square arcmin in 0.75 square arcmin in 16 moves16 moves

• TBD whether available TBD whether available in service modein service mode


Sky subtraction modesSky subtraction modesSky subtraction modesSky subtraction modes

• Four modes of sky subtraction Four modes of sky subtraction provided for in the PDR designprovided for in the PDR design

• Experience from other instruments Experience from other instruments being brought to bear being brought to bear

• Flexibility to explore the most Flexibility to explore the most efficient options during efficient options during commissioningcommissioning

• Sky subtraction mode impacts the Sky subtraction mode impacts the flat-field requirementsflat-field requirements


Sky Subtraction: Offsetting Sky Subtraction: Offsetting Objects Objects

Sky Subtraction: Offsetting Sky Subtraction: Offsetting Objects Objects

• Single set of objects is Single set of objects is offset between armsoffset between arms

• 50% of time spent on 50% of time spent on source; 50% on skysource; 50% on sky

• Object and sky Object and sky observed along same observed along same optical path/same pixelsoptical path/same pixels

• Flat-field accuracy Flat-field accuracy requirements ~1%requirements ~1%


Sky subtraction: Offset Sky subtraction: Offset framesframes

Sky subtraction: Offset Sky subtraction: Offset framesframes

• Object is offset between Object is offset between armsarms

• Observing objects in the Observing objects in the ‘offset’ beam improves ‘offset’ beam improves efficiency, but may be efficiency, but may be hard to achieve in real hard to achieve in real sources?sources?

• Object and sky observed Object and sky observed along same optical along same optical path/same pixelspath/same pixels

• Flat-field accuracy Flat-field accuracy requirements ~1%requirements ~1%


Sky Subtraction: Source Sky Subtraction: Source fields fields

Sky Subtraction: Source Sky Subtraction: Source fields fields • Sky signal obtained from Sky signal obtained from

the periphery of the IFU the periphery of the IFU fieldsfields

• Highly efficient Highly efficient • Flat-field accuracy Flat-field accuracy

requirements ~0.1%requirements ~0.1%• Achieved through a Achieved through a

combination of flat-field combination of flat-field observation and scaling OH observation and scaling OH lineslines


Subtraction: Sky armsSubtraction: Sky armsSubtraction: Sky armsSubtraction: Sky arms• Arms not assigned to Arms not assigned to

objects are used to objects are used to observe skyobserve sky

• Requirements on flat-Requirements on flat-fielding are that sky fielding are that sky signal must be signal must be calibrated to 0.1%calibrated to 0.1%• Achieved through Achieved through

combination of flat-field combination of flat-field and post-processingand post-processing


Other configurable Other configurable parametersparameters

Other configurable Other configurable parametersparameters

• Exposure timeExposure time• Time to reach the background limit TBD, Time to reach the background limit TBD,

but around 600sbut around 600s• Non-destructive read-out will be standardNon-destructive read-out will be standard

• SpectrometerSpectrometer• User selected wavelength bandUser selected wavelength band• The sameThe same grating and appropriate filter grating and appropriate filter

selected for all three spectrographs selected for all three spectrographs • Achromatic spectrograph, so no focusAchromatic spectrograph, so no focus


Spectroscopic modesSpectroscopic modes Req 3.5.5: Total wavelength Req 3.5.5: Total wavelength

coveragecoverage

Spectroscopic modesSpectroscopic modes Req 3.5.5: Total wavelength Req 3.5.5: Total wavelength

coveragecoverage• At PDR, four options: IZ, J, H, KAt PDR, four options: IZ, J, H, K• Extension to 0.8um is Extension to 0.8um is optimaloptimal requirement requirement

• i.e. coatings, IQ etc are acceptable i.e. coatings, IQ etc are acceptable • Requires additional IZ grating and filter, discussed Requires additional IZ grating and filter, discussed

later…..later…..• Additional, broader Additional, broader coverage (JH/HK) gratings coverage (JH/HK) gratings

with lower R TBD during FDR phase (with lower R TBD during FDR phase (req 3.5.20req 3.5.20))


Spectroscopic modesSpectroscopic modes 3.5.21: Wavelength multiplex 3.5.21: Wavelength multiplex

advantageadvantage

Spectroscopic modesSpectroscopic modes 3.5.21: Wavelength multiplex 3.5.21: Wavelength multiplex

advantageadvantage• ‘‘Optimal’ requirement and initial Optimal’ requirement and initial

KMOS concept to configure 3 KMOS concept to configure 3 spectrometers with different spectrometers with different gratings, different DITs gratings, different DITs • Opted for single detector controller, Opted for single detector controller,

therefore different DITs not possible therefore different DITs not possible • Multi-grating option not implementedMulti-grating option not implemented


3.5.19: Spectral resolving 3.5.19: Spectral resolving powerpower

3.5.19: Spectral resolving 3.5.19: Spectral resolving powerpower

0

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2000

2500

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3500

4000

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800 1000 1200 1400 1600 1800 2000 2200 2400 2600

wavelength (nm)

spec

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olv

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po

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Spectral resolving power secondary to wavelength coverage

IZ:0.8-1.05um; J:1.05-1.37um; H:1.45-1.85um; K:1.95-2.50um

During the observations

Source acquisitonSource acquisiton

Calibration starsCalibration stars


Observational efficiencyObservational efficiencyObservational efficiencyObservational efficiency• Req 3.5.8:Req 3.5.8: Desirable requirement for Desirable requirement for

>85% efficiency in one hour gives >85% efficiency in one hour gives 9minute budget9minute budget• Instrument configured during 6min Instrument configured during 6min

telescope presettelescope preset• Predicted 1min for observations of Predicted 1min for observations of

reference objects during acquisition. reference objects during acquisition. Budget ~3min.Budget ~3min.

• Additional ~1min required if reconfiguring Additional ~1min required if reconfiguring arms for different science targetsarms for different science targets


On loading the arm On loading the arm configurationconfiguration

On loading the arm On loading the arm configurationconfiguration

• Arm positions recalculated for the Arm positions recalculated for the airmass at the start of observationsairmass at the start of observations

• In the case of a failed arm, the In the case of a failed arm, the requested rotation of the field is requested rotation of the field is altered until the allocation of arms altered until the allocation of arms to high priority targets is optimisedto high priority targets is optimised


Arm failure and related Arm failure and related responsesresponses

Arm failure and related Arm failure and related responsesresponses

• Impact of an arm failureImpact of an arm failure• 1/24 loss of efficiency measured simply 1/24 loss of efficiency measured simply

by non-availability of an armby non-availability of an arm• Thoughtful arm design has ensured that Thoughtful arm design has ensured that

one arm does not block othersone arm does not block others• Modelling with KARMA suggests ~1 Modelling with KARMA suggests ~1

objects no longer accessible in objects no longer accessible in ‘standard’ clusters. ‘standard’ clusters.

• Can be improved by reselecting rotationCan be improved by reselecting rotation


Acquisition Acquisition with KMOSwith KMOSAcquisition Acquisition with KMOSwith KMOS

• Acquisition to Acquisition to ±(0.5,0.5) ±(0.5,0.5) spatial spatial elementselements

• Repeat Repeat positioning to positioning to <±0.2arcsecs<±0.2arcsecs


Acquisition StepsAcquisition StepsAcquisition StepsAcquisition Steps• Configure KMOS during telescope presetConfigure KMOS during telescope preset

• For three bright reference sources or for For three bright reference sources or for science fieldscience field

• Acquire guide starAcquire guide star• Targets should be acquired nowTargets should be acquired now• Observe, determine centroids Observe, determine centroids • Apply systematic offset as requiredApply systematic offset as required

• Ignore small (<~0.2arcsec) random offsetsIgnore small (<~0.2arcsec) random offsets• If sources are not seen, start a different OBIf sources are not seen, start a different OB


Acquisition Acquisition with KMOSwith KMOSAcquisition Acquisition with KMOSwith KMOS

• In visitor mode In visitor mode only (req only (req 3.5.11) 3.5.11) • Small (Small (< 1 < 1

field) field) adjustments of adjustments of arms subject to arms subject to rulesrules


What changes during the What changes during the observations?observations?

What changes during the What changes during the observations?observations?

• NothingNothing• No movement of the armsNo movement of the arms

• Not for sky positionsNot for sky positions• Not for atmospheric refractionNot for atmospheric refraction

• No flexure compensationNo flexure compensation• Not for spectroscopic shiftsNot for spectroscopic shifts• Not for image movements/flexureNot for image movements/flexure• NB: change from Phase A conceptNB: change from Phase A concept


More on Spectral flexureMore on Spectral flexureMore on Spectral flexureMore on Spectral flexure• SourcesSources

• Flexure of the pseudo-slit relative to the Flexure of the pseudo-slit relative to the spectrograph spectrograph

• Flexure of the detector+mount relative to slitFlexure of the detector+mount relative to slit• Flexure of the gratingFlexure of the grating

• Design has flexure within acceptable limits Design has flexure within acceptable limits ( (req 3.5.23req 3.5.23: <0.2pixels): <0.2pixels)

• If as-built flexure is unacceptable, If as-built flexure is unacceptable, calibrate with OH linescalibrate with OH lines• Technique developed on SINFONITechnique developed on SINFONI


More on image movementMore on image movementMore on image movementMore on image movement• SourcesSources

• Bulk motion of the instrument relative to the Bulk motion of the instrument relative to the Nasmyth flangeNasmyth flange

• Relative movements of the armsRelative movements of the arms• Relative motions of the arms cannot be Relative motions of the arms cannot be

compensated compensated • Arm design meets the requirements on Arm design meets the requirements on

flexureflexure• NB not a peculiarity of the armsNB not a peculiarity of the arms


More on image movementMore on image movementMore on image movementMore on image movement• Bulk motion of the cryostatBulk motion of the cryostat

• Produces shifts in the imagesProduces shifts in the images• Blind co-addition of images will result in combined PSF Blind co-addition of images will result in combined PSF

of 0.49arcsec over 1 hour in 0.4arcsec seeingof 0.49arcsec over 1 hour in 0.4arcsec seeing• Compensated by post-processing of imagesCompensated by post-processing of images• BUT NB this does not include detector cross-talk and BUT NB this does not include detector cross-talk and

assumes ZD>10degreesassumes ZD>10degrees• Produces a shift of the spectral lines in Produces a shift of the spectral lines in

conditions of the best seeing conditions of the best seeing • 5% increase in line width5% increase in line width• ±0.23pixels movement of the centroid±0.23pixels movement of the centroid• NB this does not affect subtraction of sky linesNB this does not affect subtraction of sky lines


Observation of calibration Observation of calibration starsstars

Observation of calibration Observation of calibration starsstars

• Fixed arm configurationFixed arm configuration• Telluric standard from one armTelluric standard from one arm• Option to repeat once per spectrograph Option to repeat once per spectrograph

• Three arms deployed into the fieldThree arms deployed into the field• offset telescopeoffset telescope

• Flux calibrationFlux calibration• Via the telluric standard or a flux standard Via the telluric standard or a flux standard • Relative throughput of arms scaled from Relative throughput of arms scaled from

sky backgroundsky background

After the observations

Daytime calibrationDaytime calibration

Post processing stepsPost processing steps


Calibration systemCalibration systemCalibration systemCalibration system


Calibration lampsCalibration lampsCalibration lampsCalibration lamps

• Dedicated Dedicated calibration unit calibration unit containingcontaining• Two tungsten lamps Two tungsten lamps

for flat fielding (one for flat fielding (one plus spare)plus spare)

• One argon lamp for One argon lamp for wavelength wavelength calibrationcalibration


Flat-fieldingFlat-fieldingFlat-fieldingFlat-fielding• Continuum source in the calunitContinuum source in the calunit

• Provide spatially+spectrally smooth fieldProvide spatially+spectrally smooth field• Modelled spatial uniformity:Modelled spatial uniformity:

• Few-% (possibly better…..)Few-% (possibly better…..)• Sphere to be built and tested during FDR Sphere to be built and tested during FDR

phasephase• To remove vignetting function, flat-To remove vignetting function, flat-

field on sky with arms in deployed field on sky with arms in deployed positionposition• Twilight flats provided for, but not routineTwilight flats provided for, but not routine


Wavelength calibrationWavelength calibrationWavelength calibrationWavelength calibration• Argon arc lamp expected to provide Argon arc lamp expected to provide

wavelength calibration to <0.1pixel wavelength calibration to <0.1pixel ((±2.5kms±2.5kms-1-1) ) • req 3.5.24 on wavelength scale req 3.5.24 on wavelength scale

accuracy metaccuracy met• Requirement (Requirement (3.5.223.5.22) on velocity ) on velocity

precision of ±10kmsprecision of ±10kms-1 -1 metmet• Including allowance for predicted Including allowance for predicted

movement of the centroid in best seeingmovement of the centroid in best seeing


Image reconstruction: in the Image reconstruction: in the lablab


• Spatial calibration established in the labSpatial calibration established in the lab• Spectral curvatureSpectral curvature • Offsets of the IFU Offsets of the IFU

slitletsslitlets



Image reconstruction: in the Image reconstruction: in the lablab• Test facility for use in integration labTest facility for use in integration lab

• Slit mask projects to the focal plane and can be observed by Slit mask projects to the focal plane and can be observed by each IFU in turneach IFU in turn


Image reconstruction: on Image reconstruction: on telescopetelescope

Image reconstruction: on Image reconstruction: on telescopetelescope

• Spatial calibration established most Spatial calibration established most efficiently in the labefficiently in the lab

• Changes within and IFU not expectedChanges within and IFU not expected• Would be as result of movements of Would be as result of movements of

monolithic mirrors monolithic mirrors • Flexures may cause shift of the long slit Flexures may cause shift of the long slit

(from 8 IFUs) relative to detector(from 8 IFUs) relative to detector• Detectable from flat-fieldDetectable from flat-field• Would not affect the reconstructed imageWould not affect the reconstructed image


Image reconImage reconnn: on the telescope: on the telescopeImage reconImage reconnn: on the telescope: on the telescope• No access to the front of the instrumentNo access to the front of the instrument

• Can verify image reconstruction from calunitCan verify image reconstruction from calunit• Observations of the edges of the slitletsObservations of the edges of the slitlets• Observations of the arc linesObservations of the arc lines

• Or spatial offsets measured from a starOr spatial offsets measured from a star


Data pipelineData pipelineData pipelineData pipeline

• PhilosophyPhilosophy• Bringing in SINFONI experienceBringing in SINFONI experience• Minimise interpolationsMinimise interpolations• Single set of routines for Quick-look, Single set of routines for Quick-look,

on-line pipeline, off-line pipelineon-line pipeline, off-line pipeline• IFU is the ‘unit’ of reductionIFU is the ‘unit’ of reduction


Data pipelineData pipelineData pipelineData pipeline


Data pipeline: OH sky Data pipeline: OH sky subtractionsubtraction


• Discussed to be addedDiscussed to be added• Scaling OH lines, in particularScaling OH lines, in particular


Summary Science Summary Science RequirementsRequirements

Summary Science Summary Science RequirementsRequirementsRequirement Essential

RequirementsPDR Prediction

Throughput ( REQ 3.5.1)

J>20%, H>30%, K>30% J>30%, H>35%, K>35%

Wavelength coverage (REQ 3.5.5)

1.05 to 2.5 μm 0.8 to 2.5m

Spectral Resolution (REQ 3.5.19)

R>3200,3800,3000 (J,H,K) R=3500,3900,3700

Number of IFUs (REQ 3.5.14)

24 24

Extent of each IFU (REQ 3.5.10)

2.8 x 2.8 sq. arc seconds 2.8 x 2.8 sq. arc seconds

Spatial Sampling (REQ 3.5.11)

0.2 arc seconds 0.2 arc seconds

Patrol field (REQ 3.5.9)

5’x 5’ field 7.2 arcmin diameter field

Close packing of IFUs (REQ 3.5.15)

≥3 within 1 sq arcmin ≥3 within 1 sq arcmin

Closest approach of IFUs (REQ 3.5.16)

2 target fields separated by 6 arcsec

2 target fields separated by 6 arcsec, plus the ability to assemble 24 IFUs into map configuration

IZ grating trade-offs


Performance gainsPerformance gainsPerformance gainsPerformance gains

• KMOS offers high KMOS offers high throughput at throughput at >0.8um>0.8um

• Low background Low background • OH lines an order OH lines an order

of magnitude of magnitude fainter than JHKfainter than JHK

• At R=3500, 85% At R=3500, 85% of band free of of band free of lineslines


Performance, R=3500Performance, R=3500Performance, R=3500Performance, R=3500


Comparison with existing Comparison with existing facilitiesfacilities

Comparison with existing Comparison with existing facilitiesfacilities

• In future, X-shooter with R~4-7000 single IFUIn future, X-shooter with R~4-7000 single IFU


Technical issuesTechnical issuesTechnical issuesTechnical issues• Coatings and optics Coatings and optics

• Philosophy is to take what we getPhilosophy is to take what we get• Optimised for JHK, perform well at IZOptimised for JHK, perform well at IZ

• For IZ we require:For IZ we require:• One additional grating - selectedOne additional grating - selected• One additional blocking filter - selectedOne additional blocking filter - selected


Technical issuesTechnical issuesTechnical issuesTechnical issues• Grating turret Grating turret

• Can accommodate 3 additional gratingsCan accommodate 3 additional gratings• Does not increase in sizeDoes not increase in size• Weight limit still OKWeight limit still OK• IZ grating selectedIZ grating selected

• Filter wheelsFilter wheels• Can accommodate the additional filter Can accommodate the additional filter

with no change in sizewith no change in size• Filter selectedFilter selected


Resource issuesResource issuesResource issuesResource issues• Grating and filter will need installed, Grating and filter will need installed,

tested and paid fortested and paid for• 3 x Z band gratings 3 x Z band gratings = = £ 30K£ 30K• 3 x Z band filters3 x Z band filters == £ 8K£ 8K• Alignment of filtersAlignment of filters == £ 3K (0.05 FTE)£ 3K (0.05 FTE)• Alignments of gratingsAlignments of gratings == £ 3K (0.05 FTE)£ 3K (0.05 FTE)• Factory Calibrations etcFactory Calibrations etc == £ 6K (0.1 FTE)£ 6K (0.1 FTE)• Total = £50KTotal = £50K

• Additional time required in testingAdditional time required in testing• ~1 month~1 month

kmos operations and performance

Documents

arcsec ifu fields req

field req

arm positioningreq

armssky subtraction

close packing of target

positions of objects

spatial directions req

source positions