diff --git a/cereal b/cereal
index eaf962bce..439429cad 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit eaf962bcebee713d26008db30d95c6a713e9fc59
+Subproject commit 439429cad4d1e2ab874520cb5d4db8b8d978cbde
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index 0d5d780bd..00673a7e2 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -85,6 +85,7 @@ class CarController:
     new_actuators = CC.actuators.copy()
     new_actuators.accel = torque_l
     new_actuators.steer = torque_r
+    new_actuators.steerOutputCan = torque_r
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 879da8812..31cd01b65 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -78,5 +78,6 @@ class CarController:
 
     new_actuators = CC.actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
 
     return new_actuators, can_sends
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index a6cd2f19b..d380abf8e 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -158,6 +158,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
     new_actuators.gas = self.apply_gas
     new_actuators.brake = self.apply_brake
 
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 66a1485dc..ab944a30a 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -262,6 +262,7 @@ class CarController:
     new_actuators.gas = self.gas
     new_actuators.brake = self.brake
     new_actuators.steer = self.last_steer
+    new_actuators.steerOutputCan = apply_steer
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 3f128b159..2f95a29e7 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -186,6 +186,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = apply_steer / self.params.STEER_MAX
+    new_actuators.steerOutputCan = apply_steer
     new_actuators.accel = accel
 
     self.frame += 1
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 2add59ccb..027822cc3 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -59,6 +59,7 @@ class CarController:
 
     new_actuators = CC.actuators.copy()
     new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
+    new_actuators.steerOutputCan = apply_steer
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index b5429daef..a56e63408 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -87,6 +87,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 4ec950017..1f469c72b 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -158,6 +158,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
+    new_actuators.steerOutputCan = apply_steer
     new_actuators.accel = self.accel
     new_actuators.gas = self.gas
 
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index f9ce2dc32..628962de7 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -107,6 +107,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
 
     self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
     self.frame += 1
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 464129945..64f1c5d47 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f17412941a0e8229eea308c33189a5bdb1a17ae8
+9876d91c77d3f7611398c43c4d79237cadb01c9c