diff --git a/Jenkinsfile b/Jenkinsfile
index a90bad9ec7..3c3e72e422 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -139,6 +139,7 @@ pipeline {
               ["test camerad", "python system/camerad/test/test_camerad.py"],
               ["test exposure", "python system/camerad/test/test_exposure.py"],
               ["test amp", "python system/hardware/tici/tests/test_amplifier.py"],
+              ["test rawgpsd", "python system/sensord/rawgps/test_rawgps.py"],
             ])
           }
         }
diff --git a/system/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py
index 46f5cf83c9..8e3e160be2 100755
--- a/system/sensord/rawgps/rawgpsd.py
+++ b/system/sensord/rawgps/rawgpsd.py
@@ -8,7 +8,7 @@ import time
 import pycurl
 import subprocess
 from datetime import datetime
-from typing import NoReturn
+from typing import NoReturn, Optional
 from struct import unpack_from, calcsize, pack
 
 from cereal import log
@@ -91,15 +91,13 @@ def try_setup_logs(diag, log_types):
   else:
     raise Exception(f"setup logs failed, {log_types=}")
 
-def at_cmd(cmd: str) -> None:
+def at_cmd(cmd: str) -> Optional[str]:
   for _ in range(5):
     try:
-      subprocess.check_call(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True)
-      break
+      return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8')
     except subprocess.CalledProcessError:
       cloudlog.exception("rawgps.mmcli_command_failed")
-  else:
-    raise Exception(f"failed to execute mmcli command {cmd=}")
+  raise Exception(f"failed to execute mmcli command {cmd=}")
 
 
 def gps_enabled() -> bool:
@@ -183,7 +181,7 @@ def setup_quectel(diag: ModemDiag):
   #at_cmd("AT+QGPSXTRADATA?")
   time_str = datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S")
   at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000")
-  
+
   at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"")
   at_cmd("AT+QGPS=1")
 
diff --git a/system/sensord/rawgps/test_rawgps.py b/system/sensord/rawgps/test_rawgps.py
index 5bd0833955..773d7350dd 100755
--- a/system/sensord/rawgps/test_rawgps.py
+++ b/system/sensord/rawgps/test_rawgps.py
@@ -1,11 +1,14 @@
 #!/usr/bin/env python3
+import os
 import json
 import time
+import datetime
 import unittest
 import subprocess
 
 import cereal.messaging as messaging
 from system.hardware import TICI
+from system.sensord.rawgps.rawgpsd import at_cmd
 from selfdrive.manager.process_config import managed_processes
 
 
@@ -15,20 +18,33 @@ class TestRawgpsd(unittest.TestCase):
     if not TICI:
       raise unittest.SkipTest
 
+    cls.sm = messaging.SubMaster(['qcomGnss'])
+
   def tearDown(self):
     managed_processes['rawgpsd'].stop()
 
+  def _wait_for_output(self, t=10):
+    self.sm.update(0)
+    for __ in range(t*10):
+      self.sm.update(100)
+      if self.sm.updated['qcomGnss']:
+        break
+    return self.sm.updated['qcomGnss']
+
+  def test_wait_for_modem(self):
+    os.system("sudo systemctl stop ModemManager lte")
+    managed_processes['rawgpsd'].start()
+    assert not self._wait_for_output(10)
+
+    os.system("sudo systemctl restart ModemManager lte")
+    assert self._wait_for_output(30)
+
   def test_startup_time(self):
     for _ in range(5):
-      sm = messaging.SubMaster(['qcomGnss'])
       managed_processes['rawgpsd'].start()
 
       start_time = time.monotonic()
-      for __ in range(10):
-        sm.update(1 * 1000)
-        if sm.updated['qcomGnss']:
-          break
-      assert sm.rcv_frame['qcomGnss'] > 0, "rawgpsd didn't start outputting messages in time"
+      assert self._wait_for_output(), "rawgpsd didn't start outputting messages in time"
 
       et = time.monotonic() - start_time
       assert et < 5, f"rawgpsd took {et:.1f}s to start"
@@ -44,6 +60,24 @@ class TestRawgpsd(unittest.TestCase):
       loc_status = json.loads(ls)
       assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'}
 
+  def test_assistance_loading(self):
+    # clear assistance data
+    at_cmd("AT+QGPSDEL=0")
+
+    managed_processes['rawgpsd'].start()
+    assert self._wait_for_output(10)
+    managed_processes['rawgpsd'].stop()
+
+    # after QGPSDEL: '+QGPSXTRADATA: 0,"1980/01/05,19:00:00"'
+    # after loading: '+QGPSXTRADATA: 10080,"2023/06/24,19:00:00"'
+    out = at_cmd("AT+QGPSXTRADATA?")
+    out = out.split("+QGPSXTRADATA:")[1].split("'")[0].strip()
+    valid_duration, injected_date = out.split(",", 1)
+    assert valid_duration == "10080"  # should be max time
+
+    # TODO: time doesn't match up
+    assert injected_date[1:].startswith(datetime.datetime.now().strftime("%Y/%m/%d"))
+
 
 if __name__ == "__main__":
-  unittest.main()
+  unittest.main(failfast=True)