diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py
index c67644ff1a..75415a2845 100755
--- a/selfdrive/locationd/models/live_kf.py
+++ b/selfdrive/locationd/models/live_kf.py
@@ -57,8 +57,8 @@ class LiveKalman():
                         0, 0, 0])
 
   # state covariance
-  initial_P_diag = np.array([10**2, 10**2, 10**2,
-                             0.01**2, 0.01**2, 0.01**2,
+  initial_P_diag = np.array([1e3**2, 1e3**2, 1e3**2,
+                             0.5**2, 0.5**2, 0.5**2,
                              10**2, 10**2, 10**2,
                              1**2, 1**2, 1**2,
                              1**2, 1**2, 1**2,
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 92ae208dd0..9021aaec7a 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-848bc88a069b182d6f50698dd785ba360915e8dc
\ No newline at end of file
+567866c06976f8f95fa7d1670b51d8723e663ea1
\ No newline at end of file