What is the Maximum Accepted Latency in ALIGN?

ALIGN is an asynchronous solution. We store maximum of 20 Rover data epochs while waiting for master data to arrive. So depending on data-rate, if ALIGN is operating at 20 Hz, maximum 1 sec of data will be buffered. If the master data is latent by over 1 sec (@ 20 Hz), it won't get used. If data-rate is 1 Hz, the latency tolerance will be up to 20 sec. Note that the ALIGN operating rate is determined by the rate at which Master sends its data.

Thus the system can tolerate up to 20 times the logging rate of latency before the observation begins to be ignored. It is important to realise that the higher the packet latency, the higher the standard deviations in the ALIGN rover. Therefore, logging ALIGN at a lower rate will allow for longer latencies at the expense of the quality (standard deviations) provided at the ALIGN rover.