huge swings in rpy with robot_localization when inputs are relatively benign? [closed]

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I'm having some issue tuning my robot localization params. For some reason, when I feed the imu rpy, I get some really big swings in the values that don't match my input at all. See below:

I am actually only providing a single measurement for rpy from the /vectornav/IMU. Does this mean that my ekf is not trusting the measurement enough? That I need to tune the process covariance matrix?

My yaml is below:

    initial_state:  [0.0,  0.0,  0.59,
                 0.0,  0.0,  0,
                 0.0,  0.0,  0.0,
                 0.0,  0.0,  0.0,
                 0.0,  0.0,  0.0]
frequency: 10
two_d_mode: false

transform_time_offset: 0.2
transform_timeout: 0.0

print_diagnostics: false

debug: false

debug_out_file: /tmp/debug.txt

publish_tf: true

publish_acceleration: false
predict_to_current_time: true
map_frame: map              # Defaults to "map" if unspecified
odom_frame: odom            # Defaults to "odom" if unspecified
base_link_frame: base_link  # Defaults to "base_link" if unspecified
world_frame: odom          # Defaults to the value of odom_frame if unspecified

odom0: wheel_odom

#only use velocities from wheel_odom, abs val are erroneous due to slip. only vx,vy and vyaw
odom0_config: [false,  false, false,
             false,  false,  false,
             true, true, false,
              false, false, false,
             false, false, false]

odom0_queue_size: 5

odom0_differential: false

odom0_relative: false
use_control: false

#bottom facing VO camera

#using everything from vo for now
odom1: /camera_manager1/zed_node/odom
odom1_config: [true, true, true,
              false,false, false,
              false,false, false,
             false,false, false,
              false,false, false]
odom1_differential: false   
odom1_relative: false
#

imu0: /vectornav/IMU

#The IMU gives orientation, linear acceleration, and angular velocity
#use imu for velocity for vx,vy,vz, vrpy
imu0_config: [false, false, false,
            true, true,  true,
            false,  false,  false,
            false,  false,  false,
            false,  false,  false]

imu0_differential: false
imu0_relative: true

imu0_remove_gravitational_acceleration: true