diff --git a/cereal b/cereal
index 3f8210d1fd..5935572cee 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 3f8210d1fd3a2090aa1eea9b1c60050859874f1b
+Subproject commit 5935572cee86f202e2524d5f388f9475f92cd649
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index a73744de74..4e9d559798 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -73,6 +73,8 @@ class LatControlTorque(LatControl):
       pid_log.f = self.pid.f
       pid_log.output = -output_torque
       pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS)
+      pid_log.actualLateralAccel = actual_lateral_accel
+      pid_log.desiredLateralAccel = desired_lateral_accel
 
     # TODO left is positive in this convention
     return -output_torque, 0.0, pid_log
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index c7cbe1da22..5bed2e765c 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-7f1f4bd17965cc703b824ffb1870313bee93e2ec
\ No newline at end of file
+70d79fbcc2b9ab0af867a7d6f138b58bcaaa3aa8
\ No newline at end of file