SEARCHING closest gps point to 2023-05-21 12:07:58.714567 is 2023-05-21 12:07:58.289999 raw gnss 47.672275000000006 9.294099999999998 447.48 iteration= 0 chi2= 30.336385726928711 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000135844427859 levenbergIter= 1 iteration= 1 chi2= 16.161752700805664 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000090562956757 levenbergIter= 1 iteration= 2 chi2= 12.905745506286621 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000060375306930 levenbergIter= 1 iteration= 3 chi2= 11.458534240722656 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000040250204620 levenbergIter= 1 iteration= 4 chi2= 10.678636550903320 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000026833469747 levenbergIter= 1 iteration= 5 chi2= 10.209486007690430 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000017888980437 levenbergIter= 1 iteration= 6 chi2= 9.907112121582031 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000011925987565 levenbergIter= 1 iteration= 7 chi2= 9.700653076171875 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000007950658983 levenbergIter= 1 iteration= 8 chi2= 9.554560661315918 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000005300439625 levenbergIter= 1 iteration= 9 chi2= 9.448112487792969 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000003533626568 levenbergIter= 1 iteration= 10 chi2= 9.368482589721680 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000002355751121 levenbergIter= 1 iteration= 11 chi2= 9.308081626892090 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000001570500785 levenbergIter= 1 iteration= 12 chi2= 9.261472702026367 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000001047000524 levenbergIter= 1 iteration= 13 chi2= 9.225089073181152 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000698000349 levenbergIter= 1 iteration= 14 chi2= 9.196577072143555 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000465333585 levenbergIter= 1 iteration= 15 chi2= 9.173864364624023 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000310222390 levenbergIter= 1 iteration= 16 chi2= 9.155595779418945 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000206814931 levenbergIter= 1 iteration= 17 chi2= 9.140911102294922 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000137876626 levenbergIter= 1 iteration= 18 chi2= 9.129066467285156 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000091917755 levenbergIter= 1 iteration= 19 chi2= 9.119480133056641 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000061278506 levenbergIter= 1 iteration= 20 chi2= 9.111646652221680 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000040852338 levenbergIter= 1 iteration= 21 chi2= 9.105319023132324 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000027234893 levenbergIter= 1 iteration= 22 chi2= 9.100131034851074 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000018156596 levenbergIter= 1 iteration= 23 chi2= 9.095926284790039 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000012104397 levenbergIter= 1 iteration= 24 chi2= 9.092515945434570 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000008069598 levenbergIter= 1 iteration= 25 chi2= 9.089618682861328 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000005379732 levenbergIter= 1 iteration= 26 chi2= 9.087289810180664 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000003586488 levenbergIter= 1 iteration= 27 chi2= 9.085339546203613 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000002390992 levenbergIter= 1 iteration= 28 chi2= 9.083756446838379 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000001593995 levenbergIter= 1 iteration= 29 chi2= 9.082496643066406 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000001062663 levenbergIter= 1 iteration= 30 chi2= 9.081445693969727 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000708442 levenbergIter= 1 iteration= 31 chi2= 9.080548286437988 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000472295 levenbergIter= 1 iteration= 32 chi2= 9.079813003540039 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000314863 levenbergIter= 1 iteration= 33 chi2= 9.079206466674805 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000209909 levenbergIter= 1 iteration= 34 chi2= 9.078679084777832 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000139939 levenbergIter= 1 iteration= 35 chi2= 9.078241348266602 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000093293 levenbergIter= 1 iteration= 36 chi2= 9.077857971191406 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000062195 levenbergIter= 1 iteration= 37 chi2= 9.077575683593750 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000041463 levenbergIter= 1 iteration= 38 chi2= 9.077351570129395 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000027642 levenbergIter= 1 iteration= 39 chi2= 9.077166557312012 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000018428 levenbergIter= 1 iteration= 40 chi2= 9.077024459838867 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000012285 levenbergIter= 1 iteration= 41 chi2= 9.076881408691406 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000008190 levenbergIter= 1 iteration= 42 chi2= 9.076779365539551 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000005460 levenbergIter= 1 iteration= 43 chi2= 9.076688766479492 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000003640 levenbergIter= 1 iteration= 44 chi2= 9.076614379882812 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000002427 levenbergIter= 1 iteration= 45 chi2= 9.076559066772461 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000001618 levenbergIter= 1 iteration= 46 chi2= 9.076505661010742 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000001079 levenbergIter= 1 iteration= 47 chi2= 9.076459884643555 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000000719 levenbergIter= 1 iteration= 48 chi2= 9.076430320739746 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000000479 levenbergIter= 1 iteration= 49 chi2= 9.076395988464355 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000000320 levenbergIter= 1 iteration= 50 chi2= 9.076377868652344 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000000213 levenbergIter= 1 iteration= 51 chi2= 9.076362609863281 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000000142 levenbergIter= 1 iteration= 52 chi2= 9.076349258422852 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000000095 levenbergIter= 1 iteration= 53 chi2= 9.076333999633789 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000000063 levenbergIter= 1 iteration= 54 chi2= 9.076322555541992 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000000042 levenbergIter= 1 iteration= 55 chi2= 9.076313018798828 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000000028 levenbergIter= 1 iteration= 56 chi2= 9.076307296752930 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000000019 levenbergIter= 1 iteration= 57 chi2= 9.076303482055664 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000000012 levenbergIter= 1 iteration= 58 chi2= 9.076300621032715 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000000008 levenbergIter= 1 iteration= 59 chi2= 9.076293945312500 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000000006 levenbergIter= 1 iteration= 60 chi2= 9.076290130615234 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000000004 levenbergIter= 1 iteration= 61 chi2= 9.076286315917969 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000000002 levenbergIter= 1 iteration= 62 chi2= 9.076283454895020 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000000002 levenbergIter= 1 iteration= 63 chi2= 9.076282501220703 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000000001 levenbergIter= 1 iteration= 64 chi2= 9.076279640197754 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 0.000000000000001 levenbergIter= 1 iteration= 65 chi2= 9.076279640197754 time= 0 cumTime= 0 edges= 5 schur= 0 lambda= 26.293701171875000 levenbergIter= 10 OK