  The recent Nobel-prize-winning detections of gravitational waves from merging
black holes and the subsequent detection of the collision of two neutron stars
in coincidence with electromagnetic observations have inaugurated a new era of
multimessenger astrophysics. To enhance the scope of this emergent field of
science, we pioneered the use of deep learning with convolutional neural
networks, that take time-series inputs, for rapid detection and
characterization of gravitational wave signals. This approach, Deep Filtering,
was initially demonstrated using simulated LIGO noise. In this article, we
present the extension of Deep Filtering using real data from LIGO, for both
detection and parameter estimation of gravitational waves from binary black
hole mergers using continuous data streams from multiple LIGO detectors. We
demonstrate for the first time that machine learning can detect and estimate
the true parameters of real events observed by LIGO. Our results show that Deep
Filtering achieves similar sensitivities and lower errors compared to
matched-filtering while being far more computationally efficient and more
resilient to glitches, allowing real-time processing of weak time-series
signals in non-stationary non-Gaussian noise with minimal resources, and also
enables the detection of new classes of gravitational wave sources that may go
unnoticed with existing detection algorithms. This unified framework for data
analysis is ideally suited to enable coincident detection campaigns of
gravitational waves and their multimessenger counterparts in real-time.
