diff --git a/tools/replay/unlog_segment.py b/tools/replay/unlog_segment.py
new file mode 100755
index 0000000000..e506639a59
--- /dev/null
+++ b/tools/replay/unlog_segment.py
@@ -0,0 +1,100 @@
+#!/usr/bin/env python3
+import argparse
+import bisect
+import select
+import sys
+import termios
+import time
+import tty
+from collections import defaultdict
+
+import cereal.messaging as messaging
+from tools.lib.framereader import FrameReader
+from tools.lib.logreader import LogReader
+
+IGNORE = ['initData', 'sentinel']
+
+
+def input_ready():
+  return select.select([sys.stdin], [], [], 0) == ([sys.stdin], [], [])
+
+
+def replay(route, segment):
+  route = route.replace('|', '/')
+
+  lr = LogReader(f"cd:/{route}/{segment}/rlog.bz2")
+  fr = FrameReader(f"cd:/{route}/{segment}/fcamera.hevc", readahead=True)
+
+  # Build mapping from frameId to segmentId from encodeIdx, type == fullHEVC
+  msgs = [m for m in lr if m.which() not in IGNORE]
+  msgs = sorted(msgs, key=lambda m: m.logMonoTime)
+  times = [m.logMonoTime for m in msgs]
+  frame_idx = {m.encodeIdx.frameId: m.encodeIdx.segmentId for m in msgs if m.which() == 'encodeIdx' and m.encodeIdx.type == 'fullHEVC'}
+
+  socks = {}
+  lag = 0
+  i = 0
+  max_i = len(msgs) - 2
+
+  while True:
+    msg = msgs[i].as_builder()
+    next_msg = msgs[i + 1]
+
+    start_time = time.time()
+    w = msg.which()
+
+    if w == 'frame':
+      try:
+        img = fr.get(frame_idx[msg.frame.frameId], pix_fmt="rgb24")
+        img = img[0][:, :, ::-1]  # Convert RGB to BGR, which is what the camera outputs
+        msg.frame.image = img.flatten().tobytes()
+      except KeyError:
+        pass
+
+    if w not in socks:
+      socks[w] = messaging.pub_sock(w)
+    socks[w].send(msg.to_bytes())
+
+    lag += (next_msg.logMonoTime - msg.logMonoTime) / 1e9
+    lag -= time.time() - start_time
+
+    dt = max(lag, 0)
+    lag -= dt
+    time.sleep(dt)
+
+    if lag < -1 and i % 100 == 0:
+      print(f"{-lag} s behind")
+
+    if input_ready():
+      key = sys.stdin.read(1)
+
+      # Handle pause
+      if key == " ":
+        while True:
+          if input_ready() and sys.stdin.read(1) == " ":
+            break
+          time.sleep(0.01)
+
+      # Handle seek
+      dt = defaultdict(int, s=10, S=-10)[key]
+      new_time = msgs[i].logMonoTime + dt * 1e9
+      i = bisect.bisect_left(times, new_time)
+
+    i = (i + 1) % max_i
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("route")
+  parser.add_argument("segment", type=int)
+  args = parser.parse_args()
+
+  orig_settings = termios.tcgetattr(sys.stdin)
+  tty.setcbreak(sys.stdin)
+
+  try:
+    replay(args.route, args.segment)
+    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings)
+  except:
+    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, orig_settings)
+    raise