Robot is at x = -534.07, y = 144.612
Robot heading is 4.53098
Pilot executing request 12: localize
localShS imported 1 AprilTagData
Pilot wants to localize: 6 gaze points.
localShS imported 2 AprilTagData
Particle filter resampling: minAcceptable=-30  best=-1.5344  redistRatio=0.0511465  numRedist=51
Agent now at a:[-511.91, 127.145, 0] hdg 4.55332 (= 260.886 deg.)  std. dev. 111.561 mm, 7.33307 deg.  wtvar 0.0386868  bestWeight=-0.0067519
Pilot request 12 complete: noError

Robot is at x = -555.513, y = 74.0103
Robot heading is 4.71141
Pilot executing request 12: localize
localShS imported 1 AprilTagData
Pilot wants to localize: 6 gaze points.
localShS imported 2 AprilTagData
Particle filter resampling: minAcceptable=-30  best=-1.70738  redistRatio=0.0569127  numRedist=56
Agent now at a:[-544.602, 168.993, 0] hdg 4.55112 (= 260.76 deg.)  std. dev. 106.469 mm, 7.606 deg.  wtvar 0.0433568  bestWeight=-0.0135897
Pilot request 12 complete: noError

Robot is at x = -428.802, y = 169.208
Robot heading is 4.62894
Pilot executing request 12: localize
localShS imported 1 AprilTagData
Pilot wants to localize: 6 gaze points.
localShS imported 2 AprilTagData
Particle filter resampling: minAcceptable=-30  best=-2.76268  redistRatio=0.0920894  numRedist=92
Agent now at a:[-424.913, 174.766, 0] hdg 4.58873 (= 262.915 deg.)  std. dev. 151.692 mm, 10.696 deg.  wtvar 0.0223447  bestWeight=-0.0134081
Pilot request 12 complete: noError

Robot is at x = -480.897, y = 89.3007
Robot heading is 4.59493
Pilot executing request 12: localize
localShS imported nothing
Pilot wants to localize: 6 gaze points.
localShS imported 2 AprilTagData
Particle filter resampling: minAcceptable=-30  best=-0.829669  redistRatio=0.0276556  numRedist=27
Agent now at a:[-458.047, 79.4684, 0] hdg 4.6765 (= 267.944 deg.)  std. dev. 90.4122 mm, 6.13887 deg.  wtvar 0.0469548  bestWeight=-0.017194
Pilot request 12 complete: noError

Robot is at x = -494.835, y = 125.975
Robot heading is 4.56635
Pilot executing request 12: localize
localShS imported 1 AprilTagData
Pilot wants to localize: 6 gaze points.
localShS imported 2 AprilTagData
Particle filter resampling: minAcceptable=-30  best=-1.28961  redistRatio=0.0429869  numRedist=42
Agent now at a:[-493.039, 153.418, 0] hdg 4.57244 (= 261.982 deg.)  std. dev. 120.93 mm, 8.25709 deg.  wtvar 0.0700972  bestWeight=-0.0109375
Pilot request 12 complete: noError