Run time of quaternion algorithm in DMP ?

Looking for replies from navigation experts of Invensense on the following.
We have been using MPU6050, 9150, 9250 in different research projects. Now started working on GPS INS integrated navigation project for Outdoor/Indoor navigation.
we feel the attitude filter sitting in the above sensors as DMP is well tuned and good choice. Often engineers working for Integrated navigation applications, go to implement tightly coupled ( attitude and position in one filter ) solution.

So if we decide to go with DMP quaternion and implement separate filter such as EKF for position (a loosely coupled solution), we would like to know how much time the in-built DMP takes to provide us the quaternion & calibrated sensor data through FIFO ?

For information, we are thinking about our Integrated navigation filter update rate in the range of 100Hz - 200Hz.

What update rate would be ideal for Outdoor/Indoor positioning ? Since this is not a fitness or activity tracking application, 50 - 60 Hz sufficient ?