In this paper, we describe an information agent, that resides on a mobile computer or personal digital assistant (PDA), that can autonomously acquire sensor readings from pervasive sensor networks (deciding when and which sensor to acquire readings from at any time). Moreover, it can perform a range of information processing tasks including modelling the accuracy of the sensor readings, predicting the value of missing sensor readings, and predicting how the monitored environmental parameters will evolve into the future. Our motivating scenario is the need to provide situational awareness support to first responders at the scene of a large scale incident, and we describe how we use an iterative formulation of a multi-output Gaussian process to build a probabilistic model of the environmental parameters being measured by local sensors, and the correlations and delays that exist between them. We validate our approach using data collected from a network of weather sensors located on the south coast of England.