diff --git a/common/libcommon.a b/common/libcommon.a
index c245bbb32..37b0c942c 100644
Binary files a/common/libcommon.a and b/common/libcommon.a differ
diff --git a/common/params_keys.h b/common/params_keys.h
index 8f1346939..2a4a36c58 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -349,8 +349,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"HigherBitrate", {PERSISTENT, BOOL, "0", "0", 2}},
     {"HolidayThemes", {PERSISTENT, BOOL, "1", "0", 0}},
     {"HumanAcceleration", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"CoastUpToLeads", {PERSISTENT, BOOL, "1", "1", 2}},
-    {"PrioritizeSmoothFollowing", {PERSISTENT, BOOL, "0", "0", 2}},
     {"HumanLaneChanges", {PERSISTENT, BOOL, "0", "0", 2}},
     {"IconPack", {PERSISTENT, STRING, "stock", "stock", 0}},
     {"IconToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
@@ -610,6 +608,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SubaruSNG", {PERSISTENT, BOOL, "1", "0", 2}},
     {"SubaruSNGManualParkingBrake", {PERSISTENT, BOOL, "0", "0", 2}},
     {"TacoTune", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"TeslaCoopSteering", {PERSISTENT, BOOL, "0", "0", 2}},
     {"TestAlert", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
     {"TetheringEnabled", {PERSISTENT, INT, "0", "0", 0}},
     {"ThemeDownloadProgress", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
diff --git a/common/params_pyx.so b/common/params_pyx.so
index 60e34851d..6fd60c808 100755
Binary files a/common/params_pyx.so and b/common/params_pyx.so differ
diff --git a/opendbc_repo/opendbc/car/gm/carcontroller.py b/opendbc_repo/opendbc/car/gm/carcontroller.py
index 1b9e055fd..4857d9863 100644
--- a/opendbc_repo/opendbc/car/gm/carcontroller.py
+++ b/opendbc_repo/opendbc/car/gm/carcontroller.py
@@ -66,9 +66,9 @@ TRUCK_LONG_SMOOTH_CARS = {
   CAR.CHEVROLET_SILVERADO,
   CAR.CHEVROLET_SILVERADO_CC,
 }
-TRUCK_FRICTION_BRAKE_ENGAGE = 25
+TRUCK_FRICTION_BRAKE_ENGAGE = 40
 TRUCK_FRICTION_BRAKE_RELEASE = 8
-TRUCK_FRICTION_BRAKE_IMMEDIATE_ACCEL = -0.65
+TRUCK_FRICTION_BRAKE_IMMEDIATE_ACCEL = -0.85
 ACC_DASHBOARD_ZERO_RESERVED_CARS = {
   CAR.CHEVROLET_BLAZER,
   CAR.CHEVROLET_EQUINOX,
diff --git a/opendbc_repo/opendbc/car/gm/tests/test_carcontroller.py b/opendbc_repo/opendbc/car/gm/tests/test_carcontroller.py
index bdf636cf5..9ace3fcf3 100644
--- a/opendbc_repo/opendbc/car/gm/tests/test_carcontroller.py
+++ b/opendbc_repo/opendbc/car/gm/tests/test_carcontroller.py
@@ -866,13 +866,14 @@ def test_shape_truck_friction_brake_suppresses_boundary_chatter():
 
 
 def test_shape_truck_friction_brake_uses_hysteresis_once_engaged():
-  assert shape_truck_friction_brake(25, -0.3, False, False) == (25, True)
+  assert shape_truck_friction_brake(39, -0.3, False, False) == (0, False)
+  assert shape_truck_friction_brake(40, -0.3, False, False) == (40, True)
   assert shape_truck_friction_brake(14, -0.3, False, True) == (14, True)
   assert shape_truck_friction_brake(8, -0.3, False, True) == (0, False)
 
 
 def test_shape_truck_friction_brake_never_delays_meaningful_braking():
-  assert shape_truck_friction_brake(5, -0.65, False, False) == (5, True)
+  assert shape_truck_friction_brake(5, -0.85, False, False) == (5, True)
   assert shape_truck_friction_brake(5, -0.2, True, False) == (5, True)
 
 
diff --git a/opendbc_repo/opendbc/car/hyundai/interface.py b/opendbc_repo/opendbc/car/hyundai/interface.py
index e5e8045a2..1a51f712a 100644
--- a/opendbc_repo/opendbc/car/hyundai/interface.py
+++ b/opendbc_repo/opendbc/car/hyundai/interface.py
@@ -176,6 +176,8 @@ class CarInterface(CarInterfaceBase):
 
       if ret.flags & HyundaiFlags.CAMERA_SCC:
         ret.safetyConfigs[0].safetyParam |= HyundaiSafetyFlags.CAMERA_SCC.value
+      if candidate in (CAR.HYUNDAI_ELANTRA_2024, CAR.HYUNDAI_ELANTRA_HEV_2024):
+        ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAN_REFRESH_MSGS.value
 
       # These cars expose an LKAS/LFA steering-wheel button that StarPilot can customize.
       if 0x391 in fingerprint[0] or ret.flags & HyundaiFlags.CAN_CANFD_BLENDED:
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
index df59cdccf..e5ae9c04c 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
@@ -368,6 +368,13 @@ class TestHyundaiFingerprint:
     assert palisade_2023.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_CANFD_BLENDED
     assert palisade_2023.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANCEL_BTN_ENABLE
 
+  @pytest.mark.parametrize("candidate", (CAR.HYUNDAI_ELANTRA_2024, CAR.HYUNDAI_ELANTRA_HEV_2024))
+  def test_hyundai_can_refresh_platforms_use_refresh_dbc_and_safety_param(self, candidate):
+    CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False, None)
+
+    assert DBC[CP.carFingerprint][Bus.pt] == "hyundai_can_refresh_generated"
+    assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_REFRESH_MSGS
+
   def test_hyundai_lkas_button_sets_starpilot_safety_flag(self):
     fingerprint = gen_empty_fingerprint()
     fingerprint[0][0x391] = 8
diff --git a/opendbc_repo/opendbc/car/hyundai/values.py b/opendbc_repo/opendbc/car/hyundai/values.py
index ae48f23d9..3fb5c97e0 100644
--- a/opendbc_repo/opendbc/car/hyundai/values.py
+++ b/opendbc_repo/opendbc/car/hyundai/values.py
@@ -103,6 +103,7 @@ class HyundaiSafetyFlags(IntFlag):
   NON_SCC = 4096
   CAN_CANFD_BLENDED = 8192
   CANCEL_BTN_ENABLE = 16384
+  CAN_REFRESH_MSGS = 32768
   CCNC = 32768
 
 
@@ -218,6 +219,11 @@ class HyundaiPlatformConfig(PlatformConfig):
       self.dbc_dict = {Bus.pt: "hyundai_palisade_2023_generated"}
 
 
+@dataclass
+class HyundaiRefreshPlatformConfig(HyundaiPlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_can_refresh_generated"})
+
+
 @dataclass
 class HyundaiCanFDPlatformConfig(PlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_canfd_generated"})
@@ -289,7 +295,7 @@ class CAR(Platforms):
     CarSpecs(mass=2800 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.CHECKSUM_CRC8,
   )
-  HYUNDAI_ELANTRA_2024 = HyundaiPlatformConfig(
+  HYUNDAI_ELANTRA_2024 = HyundaiRefreshPlatformConfig(
     [HyundaiCarDocs("Hyundai Elantra 2024-25", car_parts=CarParts.common([CarHarness.hyundai_k]))],
     CarSpecs(mass=2797 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.CAMERA_SCC,
@@ -300,7 +306,7 @@ class CAR(Platforms):
     CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
   )
-  HYUNDAI_ELANTRA_HEV_2024 = HyundaiPlatformConfig(
+  HYUNDAI_ELANTRA_HEV_2024 = HyundaiRefreshPlatformConfig(
     [
       HyundaiCarDocs("Hyundai Elantra Hybrid 2024-26", car_parts=CarParts.common([CarHarness.hyundai_k])),
       HyundaiCarDocs("Hyundai i30 Hybrid 2024", car_parts=CarParts.common([CarHarness.hyundai_k])),
diff --git a/opendbc_repo/opendbc/car/tesla/carcontroller.py b/opendbc_repo/opendbc/car/tesla/carcontroller.py
index ff71a56c2..c5856998d 100644
--- a/opendbc_repo/opendbc/car/tesla/carcontroller.py
+++ b/opendbc_repo/opendbc/car/tesla/carcontroller.py
@@ -3,10 +3,11 @@ from opendbc.can import CANPacker
 from opendbc.car import Bus
 from opendbc.car.lateral import apply_steer_angle_limits_vm
 from opendbc.car.interfaces import CarControllerBase
+from opendbc.car.tesla.coop_steering import CooperativeSteeringController
 from opendbc.car.tesla.teslacan import TeslaCAN
 from opendbc.car.tesla.preap.carcontroller import PreAPLongController, init_preap_can
 from opendbc.car.tesla.preap.stock_cc_spoofer import StockCCSpoofer
-from opendbc.car.tesla.values import CANBUS, CAR, CarControllerParams
+from opendbc.car.tesla.values import CANBUS, CAR, CarControllerParams, TeslaSafetyFlags
 from opendbc.car.vehicle_model import VehicleModel
 
 def get_safety_CP():
@@ -18,6 +19,11 @@ class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
     self.apply_angle_last = 0
+    self.apply_angle_command_last = 0
+    self.coop_steer = CooperativeSteeringController()
+    self.coop_enabled = CP.carFingerprint == CAR.TESLA_MODEL_3 and any(
+      config.safetyParam & TeslaSafetyFlags.COOP_STEERING.value for config in CP.safetyConfigs
+    )
     self.packer = CANPacker(dbc_names[Bus.party])
     self.tesla_can = TeslaCAN(self.packer)
     self.preap_long = None
@@ -40,17 +46,18 @@ class CarController(CarControllerBase):
     actuators = CC.actuators
     can_sends = []
 
-    # Tesla EPS enforces disabling steering on heavy lateral override force.
-    # When enabling in a tight curve, we wait until user reduces steering force to start steering.
-    # Canceling is done on rising edge and is handled generically with CC.cruiseControl.cancel
-    lat_active = CC.latActive and CS.hands_on_level < 3
+    # Preserve the stock controller path unless cooperative steering is explicitly enabled.
+    lat_active = CC.latActive and (not CS.out.steeringDisengage if self.coop_enabled else CS.hands_on_level < 3)
 
     if self.frame % 2 == 0:
       # Angular rate limit based on speed
       self.apply_angle_last = apply_steer_angle_limits_vm(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CS.out.steeringAngleDeg,
                                                           lat_active, CarControllerParams, self.VM)
 
-      can_sends.append(self.tesla_can.create_steering_control(self.apply_angle_last, lat_active))
+      self.apply_angle_command_last, lat_active = self.coop_steer.update(
+        self.apply_angle_last, lat_active, self.coop_enabled, CS, self.VM,
+      )
+      can_sends.append(self.tesla_can.create_steering_control(self.apply_angle_command_last, lat_active))
 
     if self.frame % 10 == 0:
       can_sends.append(self.tesla_can.create_steering_allowed())
@@ -71,7 +78,7 @@ class CarController(CarControllerBase):
 
     # TODO: HUD control
     new_actuators = actuators.as_builder()
-    new_actuators.steeringAngleDeg = self.apply_angle_last
+    new_actuators.steeringAngleDeg = self.apply_angle_command_last
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/opendbc_repo/opendbc/car/tesla/carstate.py b/opendbc_repo/opendbc/car/tesla/carstate.py
index 9d2e74da3..5f3b3ae62 100644
--- a/opendbc_repo/opendbc/car/tesla/carstate.py
+++ b/opendbc_repo/opendbc/car/tesla/carstate.py
@@ -4,7 +4,7 @@ from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_THRESHOLD, CAR
+from opendbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_DISENGAGE_THRESHOLD, STEER_THRESHOLD, TeslaSafetyFlags, CAR
 from opendbc.car.tesla.preap.carstate import get_preap_can_parsers, update_preap
 from opendbc.car.tesla.preap.engagement import PreAPEngagement
 from opendbc.car.tesla.preap.nap_conf import nap_conf
@@ -30,6 +30,9 @@ class CarState(CarStateBase):
     self.prev_cruise_buttons = 0
     self.msg_stw_actn_req = None
     self.speed_units = "MPH"
+    self.cooperative_steering = any(
+      config.safetyParam & TeslaSafetyFlags.COOP_STEERING.value for config in CP.safetyConfigs
+    )
 
     if CP.carFingerprint == CAR.TESLA_MODEL_S_PREAP:
       self.engagement = PreAPEngagement(nap_conf.double_pull_enabled, nap_conf.double_pull_window_ms)
@@ -95,8 +98,11 @@ class CarState(CarStateBase):
 
     # FSD disengages using union of handsOnLevel (slow overrides) and high angle rate faults (fast overrides, high speed)
     eac_error_code = self.can_define.dv["EPAS3S_sysStatus"]["EPAS3S_eacErrorCode"].get(int(epas_status["EPAS3S_eacErrorCode"]), None)
-    ret.steeringDisengage = self.hands_on_level >= 3 or (eac_status == "EAC_INHIBITED" and
-                                                         eac_error_code == "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY")
+    ret.steeringDisengage = (
+      self.hands_on_level >= 3 or
+      (eac_status == "EAC_INHIBITED" and eac_error_code == "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY") or
+      (self.cooperative_steering and abs(ret.steeringTorque) > STEER_DISENGAGE_THRESHOLD)
+    )
 
     # Cruise state
     cruise_state = self.can_define.dv["DI_state"]["DI_cruiseState"].get(int(cp_party.vl["DI_state"]["DI_cruiseState"]), None)
diff --git a/opendbc_repo/opendbc/car/tesla/coop_steering.py b/opendbc_repo/opendbc/car/tesla/coop_steering.py
new file mode 100644
index 000000000..d8625321a
--- /dev/null
+++ b/opendbc_repo/opendbc/car/tesla/coop_steering.py
@@ -0,0 +1,133 @@
+import math
+
+import numpy as np
+
+from opendbc.car import DT_CTRL, rate_limit
+from opendbc.car.lateral import apply_steer_angle_limits_vm
+from opendbc.car.tesla.values import CarControllerParams
+from opendbc.car.vehicle_model import VehicleModel
+
+
+DT_LAT_CTRL = DT_CTRL * CarControllerParams.STEER_STEP
+STEER_RESUME_RATE_LIMIT_RAMP_RATE = 300.0  # deg/s^2
+
+STEER_OVERRIDE_MIN_TORQUE = 0.5  # Nm
+STEER_OVERRIDE_MAX_TORQUE = 2.5  # Nm
+STEER_OVERRIDE_TORQUE_RANGE = STEER_OVERRIDE_MAX_TORQUE - STEER_OVERRIDE_MIN_TORQUE
+STEER_OVERRIDE_MAX_LAT_ACCEL = 2.0  # m/s^2
+STEER_OVERRIDE_DELTA_GAIN_LIMIT = 125.0  # deg/s/Nm
+
+
+def apply_bounds(signal: float, limit: float) -> float:
+  return float(np.clip(signal, -limit, limit))
+
+
+def apply_deadzone(signal: float, deadzone: float) -> float:
+  return signal - apply_bounds(signal, deadzone)
+
+
+def get_steer_from_lat_accel(lat_accel: float, v_ego: float, VM: VehicleModel) -> float:
+  curvature = lat_accel / max(1.0, v_ego) ** 2
+  return math.degrees(VM.get_steer_from_curvature(curvature, v_ego, 0.0))
+
+
+def get_override_torque_to_angle(v_ego: float, VM: VehicleModel) -> float:
+  max_angle = CarControllerParams.ANGLE_LIMITS.STEER_ANGLE_MAX
+  steer_from_lat_accel = apply_bounds(get_steer_from_lat_accel(STEER_OVERRIDE_MAX_LAT_ACCEL, v_ego, VM), max_angle)
+  return steer_from_lat_accel / STEER_OVERRIDE_TORQUE_RANGE
+
+
+def calc_override_angle_delta_limit(torque: float) -> float:
+  max_gain = CarControllerParams.ANGLE_LIMITS.MAX_ANGLE_RATE / DT_LAT_CTRL / STEER_OVERRIDE_TORQUE_RANGE
+  return torque * min(STEER_OVERRIDE_DELTA_GAIN_LIMIT, max_gain) * DT_LAT_CTRL
+
+
+class SteerRateLimiter:
+  def __init__(self):
+    self.last = 0.0
+
+  def reset(self, angle: float) -> None:
+    self.last = angle
+
+  def update(self, angle: float, angle_delta_limit: float) -> float:
+    limited = rate_limit(angle, self.last, -angle_delta_limit, angle_delta_limit)
+    self.last = limited
+    return limited
+
+
+class CooperativeSteeringController:
+  def __init__(self):
+    self.apply_angle_last = 0.0
+    self.coop_apply_angle_last = 0.0
+    self.angle_override = 0.0
+    self.resume_rate_limiter_delta = SteerRateLimiter()
+    self.resume_rate_limiter = SteerRateLimiter()
+
+  def reset_override_state(self, apply_angle: float) -> None:
+    self.apply_angle_last = apply_angle
+    self.angle_override = 0.0
+    self.coop_apply_angle_last = apply_angle
+
+  def reset_resume_state(self, apply_angle: float) -> None:
+    self.resume_rate_limiter_delta.reset(0.0)
+    self.resume_rate_limiter.reset(apply_angle)
+
+  def update_override_angle(self, apply_angle_delta: float, driver_torque: float, v_ego: float, VM: VehicleModel) -> float:
+    driver_torque = apply_deadzone(driver_torque, STEER_OVERRIDE_MIN_TORQUE)
+    torque_to_angle = get_override_torque_to_angle(v_ego, VM)
+    target_angle = driver_torque * torque_to_angle
+
+    holding_torque = self.angle_override / torque_to_angle if abs(v_ego) > 0.1 else 0.0
+    torque_delta = driver_torque - holding_torque
+    angle_delta_limit = calc_override_angle_delta_limit(abs(torque_delta))
+    angle_override_delta = float(np.clip(target_angle - self.angle_override, -angle_delta_limit, angle_delta_limit))
+
+    # Avoid counting model-requested motion and driver-requested motion twice.
+    if angle_override_delta * apply_angle_delta > 0.0:
+      angle_override_delta -= apply_bounds(apply_angle_delta, abs(angle_override_delta))
+
+    self.angle_override += angle_override_delta
+    return self.angle_override
+
+  def unwind_override_angle(self, saturation_error: float) -> None:
+    if self.angle_override * saturation_error > 0.0:
+      self.angle_override -= apply_bounds(saturation_error, abs(self.angle_override))
+
+  def apply_resume_rate_limit(self, lat_active: bool, apply_angle: float) -> float:
+    if not lat_active:
+      self.reset_resume_state(apply_angle)
+      return apply_angle
+
+    angle_rate_delta = self.resume_rate_limiter_delta.update(
+      CarControllerParams.ANGLE_LIMITS.MAX_ANGLE_RATE,
+      STEER_RESUME_RATE_LIMIT_RAMP_RATE * DT_LAT_CTRL ** 2,
+    )
+    return self.resume_rate_limiter.update(apply_angle, angle_rate_delta)
+
+  def update(self, apply_angle: float, lat_active: bool, enabled: bool, CS, VM: VehicleModel) -> tuple[float, bool]:
+    if not enabled:
+      self.reset_resume_state(apply_angle)
+      self.reset_override_state(apply_angle)
+      return apply_angle, lat_active
+
+    apply_angle = self.apply_resume_rate_limit(lat_active, apply_angle)
+    if not lat_active:
+      self.reset_override_state(apply_angle)
+      return apply_angle, False
+
+    apply_angle_delta = apply_angle - self.apply_angle_last
+    self.apply_angle_last = apply_angle
+    apply_angle += self.update_override_angle(apply_angle_delta, CS.out.steeringTorque, CS.out.vEgo, VM)
+
+    limited_angle = apply_steer_angle_limits_vm(
+      apply_angle,
+      self.coop_apply_angle_last,
+      CS.out.vEgoRaw,
+      CS.out.steeringAngleDeg,
+      True,
+      CarControllerParams,
+      VM,
+    )
+    self.coop_apply_angle_last = limited_angle
+    self.unwind_override_angle(apply_angle - limited_angle)
+    return limited_angle, True
diff --git a/opendbc_repo/opendbc/car/tesla/fingerprints.py b/opendbc_repo/opendbc/car/tesla/fingerprints.py
index 5892c7519..2149801cd 100644
--- a/opendbc_repo/opendbc/car/tesla/fingerprints.py
+++ b/opendbc_repo/opendbc/car/tesla/fingerprints.py
@@ -9,6 +9,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x730, None): [
       b'TeM3_E014p10_0.0.0 (16),E014.17.00',
       b'TeM3_E014p10_0.0.0 (16),EL014.17.00',
+      b'TeM3_E014p10_0.0.0 (24),E014.20.2',
       b'TeM3_ES014p11_0.0.0 (25),ES014.19.0',
       b'TeMYG4_DCS_Update_0.0.0 (13),E4014.28.1',
       b'TeMYG4_DCS_Update_0.0.0 (9),E4014.26.0',
diff --git a/opendbc_repo/opendbc/car/tesla/interface.py b/opendbc_repo/opendbc/car/tesla/interface.py
index c284a08d4..ae298bfad 100644
--- a/opendbc_repo/opendbc/car/tesla/interface.py
+++ b/opendbc_repo/opendbc/car/tesla/interface.py
@@ -18,6 +18,13 @@ class CarInterface(CarInterfaceBase):
       return get_preap_accel_limits(current_speed)
     return CarInterfaceBase.get_pid_accel_limits(CP, current_speed, cruise_speed)
 
+  @classmethod
+  def get_params(cls, candidate, fingerprint, car_fw, alpha_long, is_release, docs, starpilot_toggles):
+    ret = super().get_params(candidate, fingerprint, car_fw, alpha_long, is_release, docs, starpilot_toggles)
+    if candidate == CAR.TESLA_MODEL_3 and getattr(starpilot_toggles, "tesla_cooperative_steering", False):
+      ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.COOP_STEERING.value
+    return ret
+
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
     ret.brand = "tesla"
diff --git a/opendbc_repo/opendbc/car/tesla/tests/__init__.py b/opendbc_repo/opendbc/car/tesla/tests/__init__.py
new file mode 100644
index 000000000..e69de29bb
diff --git a/opendbc_repo/opendbc/car/tesla/tests/test_coop_steering.py b/opendbc_repo/opendbc/car/tesla/tests/test_coop_steering.py
new file mode 100644
index 000000000..5f0003480
--- /dev/null
+++ b/opendbc_repo/opendbc/car/tesla/tests/test_coop_steering.py
@@ -0,0 +1,75 @@
+from types import SimpleNamespace
+
+import pytest
+
+from opendbc.car import gen_empty_fingerprint
+from opendbc.car.tesla.carcontroller import CarController, get_safety_CP
+from opendbc.car.tesla.coop_steering import CooperativeSteeringController
+from opendbc.car.tesla.interface import CarInterface
+from opendbc.car.tesla.values import CAR, DBC, CarControllerParams, TeslaSafetyFlags
+from opendbc.car.vehicle_model import VehicleModel
+
+
+def make_car_state(torque=0.0, speed=15.0, angle=0.0):
+  return SimpleNamespace(out=SimpleNamespace(
+    steeringTorque=torque,
+    steeringAngleDeg=angle,
+    vEgo=speed,
+    vEgoRaw=speed,
+  ))
+
+
+@pytest.fixture
+def vehicle_model():
+  return VehicleModel(get_safety_CP())
+
+
+def test_disabled_preserves_angle_command(vehicle_model):
+  controller = CooperativeSteeringController()
+  angle, lat_active = controller.update(12.5, True, False, make_car_state(torque=2.0), vehicle_model)
+
+  assert angle == 12.5
+  assert lat_active
+
+
+def test_light_driver_torque_adjusts_angle(vehicle_model):
+  controller = CooperativeSteeringController()
+  angle = 0.0
+
+  for _ in range(10):
+    angle, lat_active = controller.update(0.0, True, True, make_car_state(torque=1.5), vehicle_model)
+
+  assert lat_active
+  assert angle > 0.0
+  assert angle <= CarControllerParams.ANGLE_LIMITS.STEER_ANGLE_MAX
+
+
+def test_inactive_lateral_resets_override(vehicle_model):
+  controller = CooperativeSteeringController()
+  for _ in range(10):
+    controller.update(0.0, True, True, make_car_state(torque=1.5), vehicle_model)
+
+  angle, lat_active = controller.update(8.0, False, True, make_car_state(torque=1.5, angle=8.0), vehicle_model)
+  assert angle == 8.0
+  assert not lat_active
+
+  angle, lat_active = controller.update(8.0, True, True, make_car_state(angle=8.0), vehicle_model)
+  assert angle == 8.0
+  assert lat_active
+
+
+@pytest.mark.parametrize(("candidate", "enabled", "expected"), (
+  (CAR.TESLA_MODEL_3, False, False),
+  (CAR.TESLA_MODEL_3, True, True),
+  (CAR.TESLA_MODEL_Y, True, False),
+  (CAR.TESLA_MODEL_S_PREAP, True, False),
+))
+def test_safety_flag_is_model_3_only(candidate, enabled, expected):
+  toggles = SimpleNamespace(tesla_cooperative_steering=enabled, trailer_load_kg=0.0)
+  params = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False, toggles)
+
+  has_flag = any(config.safetyParam & TeslaSafetyFlags.COOP_STEERING.value for config in params.safetyConfigs)
+  assert has_flag is expected
+
+  if candidate != CAR.TESLA_MODEL_S_PREAP:
+    assert CarController(DBC[candidate], params).coop_enabled is expected
diff --git a/opendbc_repo/opendbc/car/tesla/values.py b/opendbc_repo/opendbc/car/tesla/values.py
index eb994fa5b..38bee377d 100644
--- a/opendbc_repo/opendbc/car/tesla/values.py
+++ b/opendbc_repo/opendbc/car/tesla/values.py
@@ -130,6 +130,7 @@ class CarControllerParams:
 
 class TeslaSafetyFlags(IntFlag):
   LONG_CONTROL = 1
+  COOP_STEERING = 256
 
 
 class TeslaFlags(IntFlag):
@@ -158,3 +159,4 @@ class CruiseButtons:
 DBC = CAR.create_dbc_map()
 
 STEER_THRESHOLD = 1
+STEER_DISENGAGE_THRESHOLD = 5.0
diff --git a/opendbc_repo/opendbc/car/tests/routes.py b/opendbc_repo/opendbc/car/tests/routes.py
index 4ebca2099..bf1c862ab 100644
--- a/opendbc_repo/opendbc/car/tests/routes.py
+++ b/opendbc_repo/opendbc/car/tests/routes.py
@@ -237,6 +237,7 @@ routes = [
   CarTestRoute("c2fd040a5e34f3ad/00000013--9211a52a3d", HYUNDAI.HYUNDAI_ELANTRA_2024),
   CarTestRoute("715ac05b594e9c59/2021-06-20--16-21-07", HYUNDAI.HYUNDAI_ELANTRA_HEV_2021),
   CarTestRoute("65ef8b49f9b0dd24/00000141--5c8720a01c", HYUNDAI.HYUNDAI_ELANTRA_HEV_2024),
+  CarTestRoute("07a48901db7b2503/000001a1--ad07872c4f", HYUNDAI.HYUNDAI_ELANTRA_HEV_2024),
   CarTestRoute("07a48901db7b2503/0000000f--697d5906e8", HYUNDAI.HYUNDAI_ELANTRA_HEV_2024),  # Hyundai i30 Hybrid 2024
   CarTestRoute("7120aa90bbc3add7/2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID),
   CarTestRoute("bc40c72b728178f2/00000006--ee76ae8c42", HYUNDAI.HYUNDAI_SONATA_HEV_2024),
diff --git a/opendbc_repo/opendbc/car/tests/test_car_interfaces.py b/opendbc_repo/opendbc/car/tests/test_car_interfaces.py
index 2390cec64..ca56264bd 100644
--- a/opendbc_repo/opendbc/car/tests/test_car_interfaces.py
+++ b/opendbc_repo/opendbc/car/tests/test_car_interfaces.py
@@ -79,6 +79,7 @@ def get_test_starpilot_toggles() -> SimpleNamespace:
     sng_hack=False,
     subaru_sng=False,
     subaru_sng_manual_parking_brake=False,
+    tesla_cooperative_steering=False,
     unlock_doors=False,
     vEgoStopping=0.5,
     volt_sng=False,
diff --git a/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc b/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc
new file mode 100644
index 000000000..5c3b59761
--- /dev/null
+++ b/opendbc_repo/opendbc/dbc/hyundai_can_refresh_generated.dbc
@@ -0,0 +1,1680 @@
+VERSION ""
+
+
+NS_ :
+ NS_DESC_
+ CM_
+ BA_DEF_
+ BA_
+ VAL_
+ CAT_DEF_
+ CAT_
+ FILTER
+ BA_DEF_DEF_
+ EV_DATA_
+ ENVVAR_DATA_
+ SGTYPE_
+ SGTYPE_VAL_
+ BA_DEF_SGTYPE_
+ BA_SGTYPE_
+ SIG_TYPE_REF_
+ VAL_TABLE_
+ SIG_GROUP_
+ SIG_VALTYPE_
+ SIGTYPE_VALTYPE_
+ BO_TX_BU_
+ BA_DEF_REL_
+ BA_REL_
+ BA_DEF_DEF_REL_
+ BU_SG_REL_
+ BU_EV_REL_
+ BU_BO_REL_
+ SG_MUL_VAL_
+
+BS_:
+
+BU_: IAP ODS _4WD BCM HUD DATC MDPS AAF_Tester AEMC SMK _4WD EPB CUBIS MTS TMU EVP CGW TPMS LPI DI_BOX SPAS EMS LCA TCU IBOX FATC AFLS FPCM SCC AHLS AVM ABS SNV OPI PGS SAS AAF Dummy LDWS_LKAS LVR ESC PSB CLU ECS ACU REA
+
+BO_ 1532 ODS13: 5 ODS
+ SG_ CR_Ods_ID : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  ACU
+ SG_ CR_Ods_Chksum_H : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  Dummy
+ SG_ CR_Ods_Chksum_L : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  Dummy
+ SG_ CR_Ods_RomID_H : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  Dummy
+ SG_ CR_Ods_RomID_L : 32|8@1+ (1.0,0.0) [0.0|255.0] ""  Dummy
+
+BO_ 1531 ODS12: 8 ODS
+ SG_ CR_Ods_SerNum0 : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  ACU
+ SG_ CR_Ods_SerNum1 : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  ACU
+ SG_ CR_Ods_SerNum2 : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  ACU
+ SG_ CR_Ods_SerNum3 : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  ACU
+ SG_ CR_Ods_SerNum4 : 32|8@1+ (1.0,0.0) [0.0|255.0] ""  ACU
+ SG_ CR_Ods_SerNum5 : 40|8@1+ (1.0,0.0) [0.0|255.0] ""  ACU
+ SG_ CR_Ods_SerNum6 : 48|8@1+ (1.0,0.0) [0.0|255.0] ""  ACU
+ SG_ CR_Ods_SerNum7 : 56|8@1+ (1.0,0.0) [0.0|255.0] ""  ACU
+
+BO_ 1530 ODS11: 8 ODS
+ SG_ CF_Ods_PrcCmd : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  Dummy
+ SG_ CF_Ods_BtsFail : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  Dummy
+ SG_ CF_Ods_AcuRcvSN : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  ACU
+ SG_ CF_Ods_EolCal : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  ACU
+ SG_ CF_Ods_PsFail : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  ACU
+ SG_ CF_Ods_EcuFail : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  ACU
+ SG_ CF_Ods_WgtStat : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  ACU
+ SG_ CF_Ods_OccStat : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  ACU
+ SG_ CR_Wcs_ErrStat : 32|8@1+ (1.0,0.0) [0.0|63.0] ""  ACU
+ SG_ CR_Wcs_ClassStat : 40|8@1+ (1.0,0.0) [0.0|4.0] ""  ACU,BCM
+
+BO_ 1017 ECS12: 4 ECS
+ SG_ Height_FL : 0|8@1+ (1.0,-128.0) [-128.0|127.0] "mm"  AFLS
+ SG_ Height_FR : 8|8@1+ (1.0,-128.0) [-128.0|127.0] "mm"  AFLS
+ SG_ Height_RL : 16|8@1+ (1.0,-128.0) [-128.0|127.0] "mm"  AFLS
+ SG_ Height_RR : 24|8@1+ (1.0,-128.0) [-128.0|127.0] "mm"  AFLS
+
+BO_ 1268 SPAS12: 8 SPAS
+ SG_ CF_Spas_HMI_Stat : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
+ SG_ CF_Spas_Disp : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,EMS
+ SG_ CF_Spas_FIL_Ind : 10|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
+ SG_ CF_Spas_FIR_Ind : 13|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
+ SG_ CF_Spas_FOL_Ind : 16|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
+ SG_ CF_Spas_FOR_Ind : 19|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
+ SG_ CF_Spas_VolDown : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Spas_RIL_Ind : 24|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
+ SG_ CF_Spas_RIR_Ind : 27|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
+ SG_ CF_Spas_FLS_Alarm : 30|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Spas_ROL_Ind : 32|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
+ SG_ CF_Spas_ROR_Ind : 35|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
+ SG_ CF_Spas_FCS_Alarm : 38|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Spas_FI_Ind : 40|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
+ SG_ CF_Spas_RI_Ind : 43|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU
+ SG_ CF_Spas_FRS_Alarm : 46|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Spas_FR_Alarm : 48|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU
+ SG_ CF_Spas_RR_Alarm : 50|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU
+ SG_ CF_Spas_BEEP_Alarm : 52|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU
+ SG_ CF_Spas_StatAlarm : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Spas_RLS_Alarm : 57|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Spas_RCS_Alarm : 59|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Spas_RRS_Alarm : 61|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+
+BO_ 1265 CLU11: 4 CLU
+ SG_ CF_Clu_CruiseSwState : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  EMS,LDWS_LKAS,SCC
+ SG_ CF_Clu_CruiseSwMain : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,LDWS_LKAS,SCC
+ SG_ CF_Clu_SldMainSW : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_Clu_ParityBit1 : 5|1@1+ (1.0,0.0) [0.0|1.0] "pulse count"  EMS
+ SG_ CF_Clu_VanzDecimal : 6|2@1+ (0.125,0.0) [0.0|0.375] ""  EMS
+ SG_ CF_Clu_Vanz : 8|9@1+ (0.5,0.0) [0.0|255.5] "km/h or MPH"  BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC
+ SG_ CF_Clu_SPEED_UNIT : 17|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CUBIS,EMS,IBOX,LDWS_LKAS,MDPS,SCC
+ SG_ CF_Clu_DetentOut : 18|1@1+ (1.0,0.0) [0.0|1.0] ""  AVM,BCM,LCA,PGS,SPAS
+ SG_ CF_Clu_RheostatLevel : 19|5@1+ (1.0,0.0) [0.0|31.0] ""  AVM,BCM,LCA,PGS,SPAS
+ SG_ CF_Clu_CluInfo : 24|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
+ SG_ CF_Clu_AmpInfo : 25|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM
+ SG_ CF_Clu_AliveCnt1 : 28|4@1+ (1.0,0.0) [0.0|15.0] ""  AHLS,EMS,EPB,LDWS_LKAS,MDPS,SCC
+
+BO_ 1260 Sign_Detection: 8 XXX
+ SG_ SpeedLim_Nav_Cam : 40|8@1+ (1,0) [0|255] "km/h / mph" XXX
+ SG_ SpeedLim_Nav_Cam2 : 48|8@1+ (1,0) [0|255] "km/h / mph" XXX
+
+BO_ 1492 TMU_GW_PE_01: 8 CLU
+ SG_ TMU_IVRActivity : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
+ SG_ TMU_PhoneActivity : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
+
+BO_ 1491 HU_DATC_PE_00: 8 CLU
+ SG_ HU_VRActivity : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
+ SG_ HU_PhoneActivity : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
+ SG_ BlowerNoiseControl : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
+
+BO_ 1490 HU_DATC_E_02: 8 CLU
+ SG_ HU_DATC_RearOnOffSet : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
+ SG_ HU_DATC_ADSOnOffSet : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
+
+BO_ 1479 EMS21: 8 EMS
+ SG_ SCR_LEVEL_WARN_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ SCR_LEVEL_WARN : 1|3@1+ (1.0,0.0) [0.0|4.0] ""  CLU
+ SG_ SCR_SYS_ERROR_WARN : 4|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+ SG_ SCR_SYSTEM_WARN_LAMP : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ SCR_INDUCEMENT_EXIT_COND : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ SCR_UREA_LEVEL : 16|8@1+ (0.5,0.0) [0.0|100.0] "%"  CLU
+ SG_ SCR_NO_REMAINING_RESTARTS : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
+ SG_ SCR_REMAINING_DISTANCE : 32|16@1+ (1.0,0.0) [0.0|25000.0] "km"  CLU
+
+BO_ 1472 GW_Warning_PE: 8 BCM
+ SG_ Audio_VolumeDown : 38|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ Pas_Spkr_Flh_Alarm : 48|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ Pas_Spkr_Fcnt_Alarm : 50|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ Pas_Spkr_Frh_Alarm : 52|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ Pas_Spkr_Rlh_Alarm : 56|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,PGS
+ SG_ Pas_Spkr_Rcnt_Alarm : 58|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ Pas_Spkr_Rrh_Alarm : 60|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,PGS
+
+BO_ 1984 CAL_SAS11: 2 ESC
+ SG_ CCW : 0|4@1+ (1.0,0.0) [0.0|15.0] ""  SAS
+ SG_ SAS_CID : 4|11@1+ (1.0,0.0) [0.0|2047.0] ""  SAS
+
+BO_ 1456 CLU12: 4 CLU
+ SG_ CF_Clu_Odometer : 0|24@1+ (0.1,0.0) [0.0|1677721.4] "km"  _4WD,AAF,BCM,CUBIS,EMS,EPB,IBOX,LDWS_LKAS,SCC,TPMS
+
+BO_ 688 SAS11: 5 MDPS
+ SG_ SAS_Angle : 0|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg"  _4WD,ACU,AFLS,AVM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU,_4WD,ACU,AFLS,AVM,BCM,CLU,ECS,EMS,ESC,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SPAS,TCU
+ SG_ SAS_Speed : 16|8@1+ (4.0,0.0) [0.0|1016.0] ""  AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU,AFLS,ECS,ESC,IBOX,LDWS_LKAS,SCC,SPAS,TCU
+ SG_ SAS_Stat : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU
+ SG_ MsgCount : 32|4@1+ (1.0,0.0) [0.0|15.0] ""  ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS
+ SG_ CheckSum : 36|4@1+ (1.0,0.0) [0.0|15.0] ""  ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS,ECS,EMS,ESC,IBOX,LDWS_LKAS,PSB,SCC,SPAS
+
+BO_ 1441 ACU12: 8 ACU
+ SG_ CR_Acu_SN : 0|64@1+ (1.0,0.0) [0.0|0.0] ""  ODS
+
+BO_ 1440 ACU11: 8 ACU
+ SG_ CF_Ods_SNRcv : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  ODS
+ SG_ CF_Ods_IDRcv : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  ODS
+ SG_ CF_Ods_RZReq : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  ODS
+ SG_ CF_Abg_DepInhEnt : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  ODS
+ SG_ CF_Abg_DepEnt : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  ODS
+ SG_ CF_PasBkl_FltStat : 28|1@1+ (1.0,0.0) [0.0|1.0] ""  ODS,PSB
+ SG_ CF_DriBkl_FltStat : 29|1@1+ (1.0,0.0) [0.0|1.0] ""  ODS,PSB
+ SG_ CF_PasBkl_Stat : 30|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,ODS,PSB,TMU
+ SG_ CF_DriBkl_Stat : 31|1@1+ (1.0,0.0) [0.0|1.0] ""  ODS,PSB
+ SG_ CF_SWL_Ind : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  CUBIS,IBOX
+ SG_ CF_Acu_FltStat : 34|2@1+ (1.0,0.0) [0.0|3.0] ""  CUBIS,IBOX
+ SG_ CF_Acu_ExtOfSab : 36|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU,CUBIS,IBOX
+ SG_ CF_Acu_Dtc : 40|16@1+ (1.0,0.0) [0.0|65535.0] ""  CUBIS,IBOX
+ SG_ CF_Acu_NumOfFlt : 56|8@1+ (1.0,0.0) [0.0|255.0] ""  CUBIS,IBOX
+
+BO_ 1437 AHLS11: 8 AHLS
+ SG_ CF_Ahls_WarnLamp : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Ahls_WarnMsg : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+
+BO_ 1434 PSB11: 2 PSB
+ SG_ PSB_LH_FAIL : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ PSB_LH_TGL : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ PSB_LH_ACT : 3|4@1+ (1.0,0.0) [0.0|4.0] ""  Dummy
+ SG_ PSB_RH_FAIL : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ PSB_RH_TGL : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ PSB_RH_ACT : 11|4@1+ (1.0,0.0) [0.0|4.0] ""  Dummy
+
+BO_ 916 TCS13: 8 ESC
+ SG_ aBasis : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2"  EMS,SCC
+ SG_ BrakeLight : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,SCC
+ SG_ DCEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,SCC
+ SG_ AliveCounterTCS : 13|3@1+ (1.0,0.0) [0.0|7.0] ""  EMS,SCC
+ SG_ Pre_TCS_CTL : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  Vector__XXX
+ SG_ EBA_ACK : 17|1@1+ (1.0,0.0) [0.0|1.0] ""  Vector__XXX
+ SG_ FCA_ACK : 18|1@1+ (1.0,0.0) [0.0|1.0] ""  Vector__XXX
+ SG_ DF_BF_STAT : 19|2@1+ (1.0,0.0) [0.0|3.0] ""  BCW
+ SG_ SCCReqLim : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  SCC
+ SG_ TQI_SCC : 24|8@1+ (0.390625,0.0) [0.0|199.609375] "%"  Vector__XXX
+ SG_ ACCEL_REF_ACC : 32|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2"  EMS,SCC
+ SG_ ACCEnable : 43|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,SCC
+ SG_ DriverOverride : 45|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,SCC
+ SG_ StandStill : 47|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,SCC
+ SG_ CheckSum_TCS3 : 48|4@1+ (1.0,0.0) [0.0|15.0] ""  EMS,SCC
+ SG_ ACC_EQUIP : 52|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,SCC
+ SG_ PBRAKE_ACT : 53|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,SCC
+ SG_ ACC_REQ : 54|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ DriverBraking : 55|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,SCC
+ SG_ CF_VSM_Coded : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  SCC
+ SG_ CF_VSM_Avail : 57|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,SCC
+ SG_ CF_VSM_Handshake : 59|1@1+ (1.0,0.0) [0.0|1.0] ""  SCC
+ SG_ CF_DriBkeStat : 60|1@1+ (1.0,0.0) [0.0|1.0] ""  SCC
+ SG_ CF_VSM_ConfSwi : 61|2@1+ (1.0,0.0) [0.0|3.0] ""  SCC
+ SG_ AEB_EQUIP : 63|1@1+ (1.0,0.0) [0.0|1.0] ""  SCC
+
+BO_ 1427 TPMS11: 6 BCM
+ SG_ TPMS_W_LAMP : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,CUBIS,HUD,IBOX,CLU,CUBIS,HUD,IBOX
+ SG_ TREAD_W_LAMP : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,CUBIS,HUD,IBOX,CLU,CUBIS,HUD,IBOX
+ SG_ POS_FL_W_LAMP : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,CUBIS,HUD,IBOX
+ SG_ POS_FR_W_LAMP : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,CUBIS,HUD,IBOX
+ SG_ POS_RL_W_LAMP : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,CUBIS,HUD,IBOX
+ SG_ POS_RR_W_LAMP : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,CUBIS,HUD,IBOX
+ SG_ STATUS_TPMS : 8|3@1+ (1.0,0.0) [0.0|0.0] ""  CLU
+ SG_ UNIT : 11|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ PRESSURE_FL : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
+ SG_ PRESSURE_FR : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
+ SG_ PRESSURE_RL : 32|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
+ SG_ PRESSURE_RR : 40|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
+
+BO_ 915 TCS12: 4 ESC
+ SG_ SA_COUNT : 0|16@1+ (2.0,-32768.0) [-32768.0|98302.0] ""  _4WD,ACU,MDPS
+ SG_ SA_Z_COUNT : 16|15@1+ (2.0,-32768.0) [-32768.0|32766.0] ""  _4WD,ACU,MDPS
+ SG_ SA_Z_FLAG : 31|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,MDPS
+
+BO_ 1170 EMS19: 8 EMS
+ SG_ CF_Ems_BrkReq : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,IBOX,TCU
+ SG_ CF_Ems_DnShftReq : 1|4@1+ (1.0,0.0) [0.0|14.0] ""  IBOX,TCU
+ SG_ CF_Ems_RepModChk : 5|2@1+ (1.0,0.0) [0.0|3.0] ""  IBOX
+ SG_ CF_Ems_AAFOpenReq : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  AAF,IBOX
+ SG_ CF_Ems_DecelReq : 8|12@1+ (0.0010,-4.094) [-4.094|0.0] "m/s^2"  ESC,IBOX,TCU
+ SG_ CR_Ems_BstPre : 20|12@1+ (1.322,0.0) [0.0|4094.0] "hPa"  CLU,IBOX
+ SG_ CR_Ems_EngOilTemp : 32|8@1+ (0.75,-40.0) [0.0|254.0] "deg"  CLU,IBOX
+ SG_ DPF_LAMP_STAT : 40|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,IBOX
+ SG_ BAT_LAMP_STAT : 42|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
+ SG_ CF_Ems_ModeledAmbTemp : 48|8@1+ (0.5,-41.0) [-41.0|85.5] "deg"  AAF,IBOX
+ SG_ CF_Ems_OPSFail : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
+ SG_ CF_Ems_AliveCounterEMS9 : 58|2@1+ (1.0,0.0) [0.0|3.0] ""  AAF,ABS,CUBIS,ECS,EPB,IBOX,MDPS,REA,SCC,SMK,TCU
+ SG_ CF_Ems_ChecksumEMS9 : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  AAF,ABS,CUBIS,ECS,EPB,IBOX,MDPS,REA,SCC,SMK,TCU
+
+BO_ 1425 AFLS11: 2 AFLS
+ SG_ AFLS_STAT : 1|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Afls_TrfChgStat : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Afls_LedHLStat : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+
+BO_ 912 SPAS11: 7 SPAS
+ SG_ CF_Spas_Stat : 0|4@1+ (1.0,0.0) [0.0|15.0] ""  ESC,MDPS
+ SG_ CF_Spas_TestMode : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  MDPS
+ SG_ CR_Spas_StrAngCmd : 8|16@1- (0.1,0.0) [-3276.8|3276.7] ""  MDPS
+ SG_ CF_Spas_BeepAlarm : 24|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+ SG_ CF_Spas_Mode_Seq : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Spas_AliveCnt : 32|8@1+ (1.0,0.0) [0.0|255.0] ""  MDPS
+ SG_ CF_Spas_Chksum : 40|8@1+ (1.0,0.0) [0.0|255.0] ""  MDPS
+ SG_ CF_Spas_PasVol : 48|3@1+ (1.0,0.0) [0.0|7.0] ""  CGW,CLU
+
+BO_ 1168 EPB11: 7 EPB
+ SG_ EPB_I_LAMP : 0|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU,CUBIS,ESC,IBOX
+ SG_ EPB_F_LAMP : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,CUBIS,ESC,IBOX
+ SG_ EPB_ALARM : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC
+ SG_ EPB_CLU : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU,ESC
+ SG_ EPB_SWITCH : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  ESC,SCC
+ SG_ EPB_RBL : 18|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,ESC
+ SG_ EPB_STATUS : 19|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,EMS,ESC,SCC,TCU
+ SG_ EPB_FRC_ERR : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,ESC,SCC,TCU
+ SG_ EPB_DBF_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
+ SG_ ESP_ACK : 25|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
+ SG_ EPB_DBF_REQ : 26|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
+ SG_ EPB_FAIL : 29|3@1+ (1.0,0.0) [0.0|7.0] ""  ESC,SCC
+ SG_ EPB_FORCE : 32|12@1+ (1.0,-1000.0) [-1000.0|3000.0] ""  ESC
+ SG_ EPB_DBF_DECEL : 48|8@1+ (0.01,0.0) [0.0|2.54] "g"  ESC
+
+BO_ 399 EMS_H12: 8 EMS
+ SG_ R_TqAcnApvC : 0|8@1+ (0.2,0.0) [0.0|51.0] "Nm"  DATC,IBOX
+ SG_ R_PAcnC : 8|8@1+ (125.0,0.0) [0.0|31875.0] "hPa"  DATC,IBOX
+ SG_ TQI_B : 16|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  ABS,ESC,IBOX
+ SG_ SLD_VS : 24|8@1+ (1.0,0.0) [0.0|255.0] "km/h"  CLU,IBOX
+ SG_ CF_CdaStat : 32|3@1+ (1.0,0.0) [0.0|7.0] ""  AEMC,IBOX,TCU
+ SG_ CF_Ems_IsgStat : 35|3@1+ (1.0,0.0) [0.0|7.0] ""  ABS,BCM,CLU,DATC,EPB,ESC,IBOX,LDWS_LKAS,MDPS,SMK,TCU
+ SG_ CF_Ems_OilChg : 38|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
+ SG_ CF_Ems_EtcLimpMod : 39|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
+ SG_ R_NEngIdlTgC : 40|8@1+ (10.0,0.0) [0.0|2550.0] "rpm"  DATC,IBOX,TCU
+ SG_ CF_Ems_UpTarGr : 48|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
+ SG_ CF_Ems_DownTarGr : 49|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
+ SG_ CF_Ems_DesCurGr : 50|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,IBOX
+ SG_ CF_Ems_SldAct : 54|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
+ SG_ CF_Ems_SldPosAct : 55|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
+ SG_ CF_Ems_HPresStat : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,TCU
+ SG_ CF_Ems_IsgBuz : 57|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
+ SG_ CF_Ems_IdlStpFCO : 58|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
+ SG_ CF_Ems_FCopen : 59|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
+ SG_ CF_Ems_ActEcoAct : 60|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX,TCU
+ SG_ CF_Ems_EngRunNorm : 61|1@1+ (1.0,0.0) [0.0|1.0] ""  ABS,ESC,IBOX,TCU
+ SG_ CF_Ems_IsgStat2 : 62|2@1+ (2.0,0.0) [0.0|3.0] ""  CLU,IBOX,TCU
+
+BO_ 1419 LCA11: 8 LCA
+ SG_ CF_Lca_Stat : 0|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU
+ SG_ CF_Rcta_Stat : 4|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU
+ SG_ CF_Lca_IndLeft : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU
+ SG_ CF_Rcw_Stat : 10|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU
+ SG_ CF_RCW_Warning : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU
+ SG_ CF_Lca_IndRight : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU
+ SG_ CF_Lca_SndWan_Stat : 18|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU
+ SG_ CF_FR_SndWan : 20|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CLU
+ SG_ CF_FL_SndWan : 21|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CLU
+ SG_ CF_RR_SndWan : 22|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CLU
+ SG_ CF_RL_SndWan : 23|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CLU
+ SG_ CF_Lca_IndBriLeft : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM,CLU
+ SG_ CF_Lca_IndBriRight : 32|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM,CLU
+ SG_ CF_RCTA_IndBriLeft : 40|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM,CLU
+ SG_ CF_RCTA_IndBriRight : 48|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM,CLU
+ SG_ CF_RCTA_IndLeft : 56|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU
+ SG_ CF_RCTA_IndRight : 58|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU
+ SG_ CF_SndWarnForClu : 60|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+
+BO_ 906 ABS11: 8 ABS
+ SG_ ABS_DEF : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,EMS,SPAS,TCU
+ SG_ EBD_DEF : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,SPAS,TCU
+ SG_ ABS_ACT : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,EPB,SPAS,TCU
+ SG_ ABS_W_LAMP : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,CUBIS,MTS,TMU
+ SG_ EBD_W_LAMP : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU
+ SG_ ABS_DIAG : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU
+ SG_ ESS_STAT : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,BCM,CLU,EMS
+
+BO_ 903 WHL_PUL11: 6 ABS
+ SG_ WHL_PUL_FL : 0|8@1+ (0.5,0.0) [0.0|127.5] "pulse count"  CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS
+ SG_ WHL_PUL_FR : 8|8@1+ (0.5,0.0) [0.0|127.5] "pulse count"  CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS
+ SG_ WHL_PUL_RL : 16|8@1+ (0.5,0.0) [0.0|127.5] "pulse count"  CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS
+ SG_ WHL_PUL_RR : 24|8@1+ (0.5,0.0) [0.0|127.5] "pulse count"  CUBIS,EPB,IBOX,SPAS,TMU,TPMS,CUBIS,EPB,IBOX,LDWS_LKAS,SPAS,TMU,TPMS
+ SG_ WHL_DIR_FL : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS
+ SG_ WHL_DIR_FR : 34|2@1+ (1.0,0.0) [0.0|3.0] ""  EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS
+ SG_ WHL_DIR_RL : 36|2@1+ (1.0,0.0) [0.0|3.0] ""  EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS
+ SG_ WHL_DIR_RR : 38|2@1+ (1.0,0.0) [0.0|3.0] ""  EPB,SPAS,TPMS,EPB,LCA,SPAS,TPMS
+ SG_ WHL_PUL_Chksum : 40|8@1+ (1.0,0.0) [0.0|255.0] ""  EPB,SPAS,TPMS,EPB,LCA,LDWS_LKAS,SPAS,TPMS
+
+BO_ 1415 TMU11: 8 IBOX
+ SG_ CF_Tmu_VehSld : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_Tmu_VehImmo : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_Tmu_ReqRepCnd : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS
+ SG_ CF_Tmu_AirconCtr : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  DATC
+ SG_ CF_Tmu_TempMd : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  DATC
+ SG_ CF_Tmu_TempSet : 6|16@1+ (1.0,0.0) [0.0|20.0] ""  DATC
+ SG_ CF_Tmu_DefrostCtr : 22|1@1+ (1.0,0.0) [0.0|1.0] ""  DATC,FATC
+ SG_ CF_Tmu_AliveCnt1 : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  EMS
+
+BO_ 902 WHL_SPD11: 8 ABS
+ SG_ WHL_SPD_FL : 0|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h"  _4WD,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS
+ SG_ WHL_SPD_FR : 16|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h"  _4WD,ACU,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS
+ SG_ WHL_SPD_RL : 32|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h"  _4WD,AFLS,AHLS,AVM,BCM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,BCM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS
+ SG_ WHL_SPD_RR : 48|14@1+ (0.03125,0.0) [0.0|511.96875] "km/h"  _4WD,AFLS,AHLS,AVM,CLU,CUBIS,ECS,EMS,EPB,IBOX,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS,_4WD,ACU,AFLS,AHLS,AVM,CLU,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PGS,PSB,SCC,SMK,SPAS,TCU,TPMS
+ SG_ WHL_SPD_AliveCounter_LSB : 14|2@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
+ SG_ WHL_SPD_AliveCounter_MSB : 30|2@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
+ SG_ WHL_SPD_Checksum_LSB : 46|2@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
+ SG_ WHL_SPD_Checksum_MSB : 62|2@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
+
+BO_ 1414 EVP11: 3 EVP
+ SG_ CF_Evp_Stat : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+
+BO_ 1412 AAF11: 8 AAF
+ SG_ CF_Aaf_ActFlapStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  AAF_Tester
+ SG_ CF_Aaf_ModeStatus : 2|3@1+ (1.0,0.0) [0.0|7.0] ""  AAF_Tester
+ SG_ CF_Aaf_WrnLamp : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Aaf_ErrStatus : 6|10@1+ (1.0,0.0) [0.0|1023.0] ""  AAF_Tester,EMS
+ SG_ CF_Aaf_OpenRqSysAct : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  AAF_Tester
+ SG_ CF_Aaf_PStatus : 24|8@1+ (1.0,0.0) [0.0|100.0] "%"  AAF_Tester
+ SG_ CF_Aaf_OpenRqSysSol : 32|8@1+ (1.0,0.0) [0.0|255.0] ""  AAF_Tester
+ SG_ CF_Aaf_SolFlapStatus : 40|2@1+ (1.0,0.0) [0.0|3.0] ""  AAF_Tester
+ SG_ CF_Aaf_MilOnReq : 42|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+
+BO_ 900 EMS17: 8 EMS
+ SG_ CF_Ems_PkpCurMSV : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  DI_BOX
+ SG_ CF_Ems_HolCurMSV : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  DI_BOX
+ SG_ CF_Ems_InjVBnkAct : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  DI_BOX
+ SG_ CF_Ems_InjVActSet : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  DI_BOX
+ SG_ CF_Ems_DiagFulHDEV : 32|1@1+ (1.0,0.0) [0.0|1.0] ""  DI_BOX
+ SG_ CF_Ems_SwiOffIC1 : 33|1@1+ (1.0,0.0) [0.0|1.0] ""  DI_BOX
+ SG_ CF_Ems_SwiOffIC2 : 34|1@1+ (1.0,0.0) [0.0|1.0] ""  DI_BOX
+ SG_ CF_Ems_DiagReqHDEV : 38|1@1+ (1.0,0.0) [0.0|1.0] ""  DI_BOX
+ SG_ CR_Ems_DutyCycMSV : 40|8@1+ (0.3921568627,0.0) [0.0|100.0] "%"  DI_BOX
+ SG_ CR_Ems_BatVolRly : 48|8@1+ (0.1,0.0) [0.0|25.5] "V"  DI_BOX
+
+BO_ 387 REA11: 8 REA
+ SG_ CF_EndBst_PwmDuH : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_EndBst_PwmDuL : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_EndBst_PwmFqOutRng : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_EndBst_HbriOverCur : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_EndBst_HbriOverTemp : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_EndBst_PosSnsKOR : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_EndBst_PosSnsOSOR : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_EndBst_EepFlt : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_EndBst_RomFlt : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_EndBst_RamFlt : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_EndBst_CanFlt : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_EndBst_AgH : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_EndBst_AgL : 13|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_EndBst_ORVol : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CR_EndBst_ActPos : 16|16@1+ (0.117,0.0) [1.989|118.053] ""  EMS
+ SG_ CR_EndBst_DemPos : 32|16@1+ (0.117,0.0) [0.0|119.691] ""  EMS
+ SG_ CR_EndBst_HbriPwr : 48|16@1+ (0.045,0.0) [0.0|99.99] "%"  EMS
+
+BO_ 1411 CUBIS11: 8 CUBIS
+ SG_ CF_Cubis_HUDisp : 0|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+
+BO_ 899 FATC11: 8 DATC
+ SG_ CR_Fatc_TqAcnOut : 0|8@1+ (0.2,0.0) [0.0|50.8] "Nm"  EMS,IBOX
+ SG_ CF_Fatc_AcnRqSwi : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  AAF,EMS,IBOX
+ SG_ CF_Fatc_AcnCltEnRq : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
+ SG_ CF_Fatc_EcvFlt : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
+ SG_ CF_Fatc_BlwrOn : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
+ SG_ CF_FATC_Iden : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,IBOX
+ SG_ CF_Fatc_BlwrMax : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,IBOX
+ SG_ CF_Fatc_EngStartReq : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
+ SG_ CF_Fatc_IsgStopReq : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
+ SG_ CF_Fatc_CtrInf : 17|3@1+ (1.0,0.0) [0.0|7.0] ""  EMS,IBOX
+ SG_ CF_Fatc_MsgCnt : 20|4@1+ (1.0,0.0) [0.0|15.0] ""  EMS,IBOX
+ SG_ CR_Fatc_OutTemp : 24|8@1+ (0.5,-40.0) [-40.0|60.0] "deg"  BCM,CLU,EMS,IBOX,SPAS,TCU,TPMS
+ SG_ CR_Fatc_OutTempSns : 32|8@1+ (0.5,-40.0) [-40.0|60.0] "deg"  AAF,AHLS,CLU,EMS,IBOX,SPAS,TCU
+ SG_ CF_Fatc_Compload : 40|3@1+ (1.0,0.0) [0.0|7.0] ""  EMS,IBOX
+ SG_ CF_Fatc_ActiveEco : 43|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
+ SG_ CF_Fatc_AutoActivation : 44|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX
+ SG_ CF_Fatc_DefSw : 45|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,IBOX
+ SG_ CF_Fatc_PtcRlyStat : 46|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
+ SG_ CF_Fatc_ChkSum : 56|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS,IBOX,SPAS
+
+BO_ 129 EMS_DCT12: 8 EMS
+ SG_ CR_Ems_SoakTimeExt : 0|6@1+ (5.0,0.0) [0.0|315.0] "Min"  TCU
+ SG_ BRAKE_ACT : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  TCU
+ SG_ CF_Ems_EngOperStat : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  TCU
+ SG_ CR_Ems_IndAirTemp : 16|8@1+ (0.75,-48.0) [-48.0|143.25] "deg"  TCU
+ SG_ CF_Ems_Alive2 : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  TCU
+ SG_ CF_Ems_ChkSum2 : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  TCU
+
+BO_ 145 FCEV_ACCELERATOR: 8 XXX
+ SG_ ACCELERATOR_PEDAL : 48|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 897 MDPS11: 8 MDPS
+ SG_ CF_Mdps_WLmp : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,CUBIS,EMS,IBOX,SPAS
+ SG_ CF_Mdps_Flex : 2|3@1+ (1.0,0.0) [0.0|3.0] ""  CLU,LDWS_LKAS
+ SG_ CF_Mdps_FlexDisp : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Mdps_Stat : 7|4@1+ (1.0,0.0) [0.0|15.0] ""  SPAS
+ SG_ CR_Mdps_DrvTq : 11|12@1+ (1.0,-2048.0) [-2048.0|2046.0] ""  SPAS
+ SG_ CF_Mdps_ALTRequest : 23|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CR_Mdps_StrAng : 24|16@1- (0.1,0.0) [-3276.8|3276.7] "Deg"  SPAS
+ SG_ CF_Mdps_AliveCnt : 40|8@1+ (1.0,0.0) [0.0|255.0] ""  LDWS_LKAS,SPAS
+ SG_ CF_Mdps_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] ""  LDWS_LKAS,SPAS
+ SG_ CF_Mdps_SPAS_FUNC : 57|1@1+ (1.0,0.0) [0.0|1.0] "flag"  SPAS
+ SG_ CF_Mdps_LKAS_FUNC : 58|1@1+ (1.0,0.0) [0.0|1.0] "flag"  LDWS_LKAS
+ SG_ CF_Mdps_CurrMode : 59|2@1+ (1.0,0.0) [0.0|3.0] ""  LDWS_LKAS
+ SG_ CF_Mdps_Type : 61|2@1+ (1.0,0.0) [0.0|2.0] ""  LDWS_LKAS,SPAS
+ SG_ CF_MDPS_VSM_FUNC : 56|1@0+ (1.0,0.0) [0.0|1.0] "" XXX
+
+BO_ 896 DI_BOX13: 8 DI_BOX
+ SG_ CF_DiBox_HPreInjVConfStat : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
+ SG_ CF_DiBox_HPreInjVStat1 : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
+ SG_ CF_DiBox_HPreInjVStat2 : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
+ SG_ CF_DiBox_HPreInjVPkp : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
+ SG_ CF_DiBox_HPreInjVBpt : 32|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
+ SG_ CF_DiBox_ErrRegFrtMSV : 40|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
+ SG_ CF_DiBox_ErrRegSedMSV : 48|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
+ SG_ CF_DiBox_SPIErrSedMSV : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_DiBox_SPIErrFrtMSV : 57|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_DiBox_IDErrSedMSV : 58|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_DiBox_IDErrFrtMSV : 59|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_DiBox_IniStatMSV : 60|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+
+BO_ 640 EMS13: 8 EMS
+ SG_ LV_FUEL_TYPE_ECU : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CLU,LPI,SMK
+ SG_ LV_BFS_CFIRM : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  LPI
+ SG_ LV_CRASH : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  LPI
+ SG_ LV_VB_OFF_ACT : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  LPI
+ SG_ LV_GSL_MAP M : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  LPI
+ SG_ LV_ENG_TURN : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  LPI
+ SG_ ERR_FUEL : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  LPI
+ SG_ EOS : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  LPI
+ SG_ TCO : 24|8@1+ (0.75,-48.0) [-48.0|143.25] "deg"  LPI
+ SG_ N_32 : 32|8@1+ (32.0,0.0) [0.0|8160.0] "rpm"  LPI
+ SG_ MAF : 40|8@1+ (5.447,0.0) [0.0|1388.985] "mg/TDC"  LPI
+ SG_ TIA : 48|8@1+ (0.75,-48.0) [-48.0|143.25] "deg"  LPI
+ SG_ MAP m1 : 56|8@1+ (0.47058,0.0) [0.0|119.9979] "kPa"  LPI
+ SG_ AMP m0 : 56|8@1+ (21.22,0.0) [0.0|5411.1] "hPa"  LPI
+
+BO_ 128 EMS_DCT11: 8 EMS
+ SG_ PV_AV_CAN : 0|8@1+ (0.3906,0.0) [0.0|99.603] "%"  TCU
+ SG_ TQ_STND : 8|6@1+ (10.0,0.0) [0.0|630.0] "Nm"  TCU
+ SG_ F_N_ENG : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  TCU
+ SG_ F_SUB_TQI : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  TCU
+ SG_ N : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm"  TCU
+ SG_ TQI_ACOR : 32|8@1+ (0.390625,0.0) [0.0|99.6094] "%"  IBOX,TCU
+ SG_ TQFR : 40|8@1+ (0.390625,0.0) [0.0|99.6094] "%"  TCU
+ SG_ TQI : 48|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  TCU
+ SG_ CF_Ems_Alive : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  TCU
+ SG_ CF_Ems_ChkSum : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  TCU
+
+BO_ 1407 HU_MON_PE_01: 8 CLU
+ SG_ HU_Type : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  AVM,PGS
+
+BO_ 127 CGW5: 8 BCM
+ SG_ C_StopLampLhOpenSts : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_StopLampRhOpenSts : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_HMSLOpenSts : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_HLampLowLhOpenSts : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_HLampLowRhOpenSts : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_HLampHighLhOpenSts : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_HLampHighRhOpenSts : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_DRLLampLhOpenSts : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_DRLLampRhOpenSts : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_RearFOGLhOpenSts : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_RearFOGRhOpenSts : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_FrontFOGLhOpenSts : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_FrontFOGRhOpenSts : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_RearEXTTailLhOpenSts : 13|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_RearEXTTailRhOpenSts : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_FrontEXTTailLhOpenSts : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_FrontEXTTailRhOpenSts : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_RearTSIGLhOpenSts : 17|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_RearTSIGRhOpenSts : 18|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_FrontTSIGLhOpenSts : 19|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_FrontTSIGRhOpenSts : 20|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_SBendingLhOpenSts : 21|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_SBendingRhOpenSts : 22|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_LicensePlateLhOpenSts : 23|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_LicensePlateRhOpenSts : 24|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+
+BO_ 1151 ESP11: 6 ESC
+ SG_ AVH_STAT : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,EPB,TCU
+ SG_ LDM_STAT : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  EPB,TCU
+ SG_ REQ_EPB_ACT : 3|2@1+ (1.0,0.0) [0.0|3.0] ""  EPB,TCU
+ SG_ REQ_EPB_STAT : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  EPB
+ SG_ ECD_ACT : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  EPB
+ SG_ _4WD_LIM_REQ : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS
+ SG_ ROL_CNT_ESP : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  EPB,TCU
+ SG_ _4WD_TQC_LIM : 16|16@1+ (1.0,0.0) [0.0|65535.0] "Nm"  _4WD,EMS
+ SG_ _4WD_CLU_LIM : 32|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  _4WD,EMS
+ SG_ _4WD_OPEN : 40|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,EMS
+ SG_ _4WD_LIM_MODE : 42|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD
+
+BO_ 1397 HU_AVM_E_00: 8 CLU
+ SG_ HU_AVM_Cal_Cmd : 0|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
+ SG_ HU_AVM_Cal_Method : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  AVM,PGS
+ SG_ HU_AVM_Save_Controlpoint : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  AVM,PGS
+ SG_ HU_AVM_PT_X : 8|12@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
+ SG_ HU_AVM_RearViewPointOpt : 20|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
+ SG_ HU_AVM_PT_Y : 24|12@1+ (1.0,0.0) [0.0|4095.0] ""  AVM,PGS
+ SG_ HU_AVM_FrontViewPointOpt : 36|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
+ SG_ HU_AVM_SelectedMenu : 40|5@1+ (1.0,0.0) [0.0|31.0] ""  AVM,PGS
+ SG_ HU_AVM_CameraOff : 45|2@1+ (1.0,0.0) [0.0|3.0] ""  AVM,PGS
+ SG_ HU_AVM_Option : 48|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
+ SG_ HU_AVM_CrossLineMove_Cmd : 52|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
+ SG_ HU_AVM_RearView_Option : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
+ SG_ HU_AVM_FrontView_Option : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
+
+BO_ 1395 HU_AVM_E_01: 8 CLU
+ SG_ HU_PGSSelectedMenu : 0|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
+ SG_ HU_PGSOption : 8|5@1+ (1.0,0.0) [0.0|31.0] ""  AVM,PGS
+ SG_ HU_AVM_ParkingAssistMenu : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
+ SG_ HU_AVM_ParkingAssistSB : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  AVM,PGS
+
+BO_ 1393 OPI11: 5 OPI
+ SG_ CR_Opi_Spd_Rpm : 0|8@1+ (20.0,0.0) [0.0|3500.0] "rpm"  TCU
+ SG_ CF_Opi_Over_Temp : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  TCU
+ SG_ CF_Opi_Over_Cur : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,TCU
+ SG_ CF_Opi_Over_Vol : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  TCU
+ SG_ CF_Opi_Hall_Fail : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,TCU
+ SG_ CF_Opi_Flt : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,TCU
+ SG_ CF_Opi_Motor_Dir : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  TCU
+ SG_ CF_Opi_Romver : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  TCU
+ SG_ CF_Opi_PWM_Rate : 24|12@1+ (1.0,0.0) [0.0|100.0] "%"  TCU
+
+BO_ 625 LPI11: 8 LPI
+ SG_ FUP_LPG_MMV : 0|8@1+ (128.0,0.0) [0.0|32640.0] "hPa"  EMS
+ SG_ LV_FUEL_TYPE_BOX : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ LV_BFS_IN_PROGRESS : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ LV_GAS_OK : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ LV_FUP_ENA_THD : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CLU,EMS,SMK
+ SG_ LPI_OBD : 12|4@1+ (1.0,0.0) [0.0|15.0] ""  EMS
+ SG_ ERR_GAS : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
+ SG_ FAC_TI_GAS_COR : 24|16@1+ (3.05E-5,0.0) [0.0|1.9988175] ""  EMS
+ SG_ FTL_AFU : 40|8@1+ (0.392,0.0) [0.0|99.96] "%"  EMS
+ SG_ BFS_CYL : 48|8@1+ (1.0,0.0) [0.0|6.0] "Cyl Nr."  EMS
+ SG_ LV_PRE_CDN_LEAK : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ LV_CONF_INJECTION_DELAY : 57|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ LV_LPG_SW_DRIVER_REQ : 58|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+
+BO_ 356 VSM11: 4 ESC
+ SG_ CR_Esc_StrTqReq : 0|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm"  MDPS
+ SG_ CF_Esc_Act : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS,MDPS
+ SG_ CF_Esc_CtrMode : 13|3@1+ (1.0,0.0) [0.0|7.0] ""  MDPS
+ SG_ CF_Esc_Def : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  MDPS
+ SG_ CF_Esc_AliveCnt : 17|4@1+ (1.0,0.0) [0.0|15.0] ""  LDWS_LKAS,MDPS
+ SG_ CF_Esc_Chksum : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  LDWS_LKAS,MDPS
+
+BO_ 1379 PGS_HU_PE_01: 8 PGS
+ SG_ PGS_State : 0|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+ SG_ PGS_ParkGuideState : 8|5@1+ (1.0,0.0) [0.0|31.0] ""  CLU
+ SG_ PGS_Option : 16|5@1+ (1.0,0.0) [0.0|31.0] ""  CLU
+ SG_ PGS_Version : 32|16@1+ (1.0,0.0) [0.0|65535.0] ""  CLU
+
+BO_ 354 TCU_DCT13: 3 TCU
+ SG_ Clutch_Driving_Tq : 0|10@1+ (1.0,-512.0) [0.0|0.0] "Nm"  ESC
+ SG_ Cluster_Engine_RPM : 10|13@1+ (0.9766,0.0) [0.0|0.0] ""  CLU
+ SG_ Cluster_Engine_RPM_Flag : 23|1@1+ (1.0,0.0) [0.0|0.0] ""  CLU
+
+BO_ 1378 HUD11: 4 HUD
+ SG_ CF_Hud_HeightStaus : 0|5@1+ (1.0,0.0) [0.0|31.0] ""  CLU
+ SG_ CF_Hud_PBackStatus : 6|2@1+ (1.0,0.0) [0.0|0.0] ""  BCM,CLU
+ SG_ CF_Hud_Brightness : 8|5@1+ (1.0,0.0) [0.0|31.0] ""  CLU
+
+BO_ 608 EMS16: 8 EMS
+ SG_ TQI_MIN : 0|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  ESC,IBOX,TCU
+ SG_ TQI : 8|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  ESC,IBOX,TCU
+ SG_ TQI_TARGET : 16|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  EPB,ESC,IBOX,TCU
+ SG_ GLOW_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CLU,IBOX,SMK
+ SG_ CRUISE_LAMP_M : 25|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX,TCU
+ SG_ CRUISE_LAMP_S : 26|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX,TCU
+ SG_ PRE_FUEL_CUT_IN : 27|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,TCU
+ SG_ ENG_STAT : 28|3@1+ (1.0,0.0) [0.0|7.0] ""  ABS,AHLS,AVM,BCM,CLU,EPB,ESC,EVP,FPCM,IBOX,LCA,LDWS_LKAS,MDPS,SCC,SMK,TCU
+ SG_ SOAK_TIME_ERROR : 31|1@1+ (1.0,0.0) [0.0|1.0] ""  DATC,EPB,IBOX,TCU
+ SG_ SOAK_TIME : 32|8@1+ (1.0,0.0) [0.0|255.0] "Min"  _4WD,DATC,EPB,IBOX,TCU
+ SG_ TQI_MAX : 40|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  ESC,IBOX,TCU
+ SG_ SPK_TIME_CUR : 48|8@1+ (0.375,-35.625) [-35.625|60.0] ""  IBOX,TCU
+ SG_ Checksum : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  ECS,IBOX,LDWS_LKAS,MDPS,SCC
+ SG_ AliveCounter : 60|2@1+ (1.0,0.0) [0.0|3.0] ""  IBOX,LDWS_LKAS,MDPS,SCC
+ SG_ CF_Ems_AclAct : 62|2@1+ (1.0,0.0) [0.0|3.0] ""  IBOX,SCC
+
+BO_ 1371 AVM_HU_PE_00: 8 AVM
+ SG_ AVM_View : 0|5@1+ (1.0,0.0) [0.0|31.0] ""  CLU
+ SG_ AVM_ParkingAssist_BtnSts : 5|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+ SG_ AVM_Display_Message : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
+ SG_ AVM_Popup_Msg : 16|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+ SG_ AVM_Ready : 20|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+ SG_ AVM_ParkingAssist_Step : 24|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+ SG_ AVM_FrontBtn_Type : 28|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+ SG_ AVM_Option : 32|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+ SG_ AVM_HU_FrontViewPointOpt : 36|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+ SG_ AVM_HU_RearView_Option : 40|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+ SG_ AVM_HU_FrontView_Option : 44|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+ SG_ AVM_Version : 48|16@1+ (1.0,0.0) [0.0|65535.0] ""  CLU
+
+BO_ 1370 HU_AVM_PE_00: 8 CLU
+ SG_ HU_AVM_Status : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  AVM,PGS
+
+BO_ 1369 CGW4: 8 BCM
+ SG_ CF_Gway_MemoryP1Cmd : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Gway_MemoryP2Cmd : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Gway_PBackP1Cmd : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Gway_PBackP2Cmd : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Gway_StrgWhlHeatedState : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Gway_PBackStopCmd : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,HUD
+ SG_ CF_Gway_StaticBendLhAct : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Gway_StaticBendRhAct : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Gway_DrvWdwStat : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Gway_RLWdwState : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Gway_RRWdwState : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Gway_AstWdwStat : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Gway_MemoryEnable : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Gway_PBACKStopCmd : 13|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Gway_PBACKStop : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,HUD
+ SG_ CF_Gway_IMSBuzzer : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Gway_DrvSeatBeltInd : 36|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,Dummy
+ SG_ CF_Gway_AstSeatBeltInd : 38|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Gway_RCSeatBeltInd : 40|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Gway_RLSeatBeltInd : 42|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Gway_RRSeatBeltInd : 44|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Gway_RrWiperHighSw : 46|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Gway_RrWiperLowSw : 47|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+
+BO_ 1367 EngFrzFrm12: 8 EMS
+ SG_ PID_06h : 0|8@1+ (0.78125,-100.0) [-100.0|99.22] "%"  AAF,IBOX,TCU
+ SG_ PID_07h : 8|8@1+ (0.78125,-100.0) [-100.0|99.22] "%"  AAF,IBOX,TCU
+ SG_ PID_08h : 16|8@1+ (0.78125,-100.0) [-100.0|99.22] "%"  AAF,IBOX,TCU
+ SG_ PID_09h : 24|8@1+ (0.78125,-100.0) [-100.0|99.22] "%"  AAF,IBOX,TCU
+ SG_ PID_0Bh : 32|8@1+ (1.0,0.0) [0.0|255.0] "kPa"  AAF,IBOX,TCU
+ SG_ PID_23h : 40|16@1+ (10.0,0.0) [0.0|655350.0] "kPa"  AAF,IBOX,TCU
+
+BO_ 1366 EngFrzFrm11: 8 EMS
+ SG_ PID_04h : 0|8@1+ (0.3921568627,0.0) [0.0|100.0] "%"  AAF,TCU
+ SG_ PID_05h : 8|8@1+ (1.0,-40.0) [-40.0|215.0] "deg"  AAF,TCU
+ SG_ PID_0Ch : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm"  AAF,TCU
+ SG_ PID_0Dh : 32|8@1+ (1.0,0.0) [0.0|255.0] "km/h"  AAF,TCU
+ SG_ PID_11h : 40|8@1+ (0.3921568627,0.0) [0.0|100.0] "%"  AAF,TCU
+ SG_ PID_03h : 48|16@1+ (1.0,0.0) [0.0|65535.0] ""  AAF,TCU
+
+BO_ 1365 FPCM11: 8 FPCM
+ SG_ CR_Fpcm_LPActPre : 0|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa"  EMS
+ SG_ CF_Fpcm_LPPumpOverCur : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_Fpcm_PreSnrHi : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_Fpcm_PreSnrDisc : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_Fpcm_PreSnrShort : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_Fpcm_LPPumpDiscShort : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_Fpcm_LP_System_Error : 13|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_Fpcm_PreSnrSigErr : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_Fpcm_LPCtrCirFlt : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+
+BO_ 871 LVR12: 8 LVR
+ SG_ CF_Lvr_CruiseSet : 0|8@1+ (1.0,0.0) [0.0|255.0] "" CLU,TCU
+ SG_ CF_Lvr_IsgState : 8|2@1+ (1.0,0.0) [0.0|3.0] "" CLU,TCU
+ SG_ CF_Lvr_Gear : 32|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,TCU
+
+BO_ 872 LVR11: 8 LVR
+ SG_ CF_Lvr_GearInf : 0|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,TCU
+ SG_ CF_Lvr_PRelStat : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CLU,SMK,TCU
+ SG_ CF_Lvr_BkeAct : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  TCU
+ SG_ CF_Lvr_NFnStat : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Lvr_PosInf : 8|4@1+ (1.0,0.0) [0.0|15.0] ""  TCU
+ SG_ CF_Lvr_PosCpl : 12|4@1+ (1.0,0.0) [0.0|15.0] ""  TCU
+ SG_ CF_Lvr_UlkButStat : 18|2@1+ (1.0,0.0) [0.0|3.0] ""  TCU
+ SG_ CF_Lvr_PNStat : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Lvr_ShtLkStat : 24|4@1+ (1.0,0.0) [0.0|15.0] ""  TCU
+ SG_ CF_Lvr_ShfErrInf : 28|20@1+ (1.0,0.0) [0.0|8191.0] ""  CLU,TCU
+ SG_ CF_Lvr_AC : 48|4@1+ (1.0,0.0) [0.0|15.0] ""  TCU
+ SG_ CF_Lvr_CS : 52|4@1+ (1.0,0.0) [0.0|15.0] ""  TCU
+
+BO_ 1363 CGW2: 8 BCM
+ SG_ CF_Gway_GwayDiagState : 0|1@1+ (1.0,0.0) [0.0|3.0] ""  CLU,Dummy
+ SG_ CF_Gway_DDMDiagState : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_SCMDiagState : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_PSMDiagState : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_SJBDiagState : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_IPMDiagState : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_LDMFail : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,LDWS_LKAS,LDWS_LKAS
+ SG_ CF_Gway_CLUSwGuiCtrl : 10|3@1+ (1.0,0.0) [0.0|63.0] ""  CLU,Dummy
+ SG_ CF_Gway_CLUSwGroup : 13|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_CLUSwMode : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_CLUSwEnter : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_AutoLightValue : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  LCA,LCA
+ SG_ CF_Gway_BrakeFluidSw : 17|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_DrvSeatBeltInd : 18|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Gway_AvTail : 20|1@1+ (1.0,0.0) [0.0|3.0] ""  CLU,SNV,SNV
+ SG_ CF_Gway_RearFogAct : 21|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_ExtTailAct : 22|1@1+ (1.0,0.0) [0.0|1.0] ""  AVM,CLU,LCA,PGS,SPAS,AVM,LCA,PGS,SPAS
+ SG_ CF_Gway_RRDrSw : 23|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_RLDrSw : 24|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_IntTailAct : 25|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_CountryCfg : 26|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU,PGS,Dummy
+ SG_ CF_Gway_WiperParkPosition : 32|1@1+ (1.0,0.0) [0.0|1.0] ""  AFLS,EMS,LDWS_LKAS,AFLS,EMS,LDWS_LKAS
+ SG_ CF_Gway_HLLowLHFail : 33|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS,SNV,LDWS_LKAS,SNV
+ SG_ CF_Gway_HLLowRHFail : 34|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS,SNV,LDWS_LKAS,SNV
+ SG_ CF_Gway_ESCLFailWarn : 35|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_ESCLNotLockedWarn : 36|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_ESCLNotUnlockWarn : 37|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_IDoutWarn : 38|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_ImmoLp : 40|1@1+ (1.0,0.0) [0.0|3.0] ""  CLU,Dummy
+ SG_ CF_Gway_BCMRKEID : 41|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,Dummy
+ SG_ CF_Gway_VehicleNotPWarn : 44|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_DeactivationWarn : 45|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_KeyBATDischargeWarn : 46|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_SSBWarn : 47|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_SMKFobID : 48|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,Dummy
+ SG_ CF_Gway_SMKRKECmd : 51|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,Dummy
+ SG_ CF_Gway_AutoLightOption : 54|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Gway_SJBDeliveryMode : 55|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_KeyoutLp : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,Dummy
+ SG_ CF_Gway_SMKDispWarn : 57|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,Dummy
+ SG_ CF_Gway_WngBuz : 61|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,Dummy
+
+BO_ 339 TCS11: 8 ESC
+ SG_ TCS_REQ : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB,TCU
+ SG_ MSR_C_REQ : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,EPB,SCC,TCU
+ SG_ TCS_PAS : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,EMS,SCC,SPAS,TCU
+ SG_ TCS_GSC : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,TCU
+ SG_ CF_Esc_LimoInfo : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,SCC
+ SG_ ABS_DIAG : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,EMS,EPB
+ SG_ ABS_DEF : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,ECS,EMS,EPB,SCC,SPAS,TCU
+ SG_ TCS_DEF : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB,SCC,SPAS,TCU
+ SG_ TCS_CTL : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB,SCC,SPAS,TCU
+ SG_ ABS_ACT : 10|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,SPAS,TCU
+ SG_ EBD_DEF : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB,SPAS,TCU
+ SG_ ESP_PAS : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,CLU,EMS,EPB,LDWS_LKAS,SCC,TCU
+ SG_ ESP_DEF : 13|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,TCU
+ SG_ ESP_CTL : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,ECS,EMS,EPB,LDWS_LKAS,SCC,SPAS,TCU
+ SG_ TCS_MFRN : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,EPB,TCU
+ SG_ DBC_CTL : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB
+ SG_ DBC_PAS : 17|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB
+ SG_ DBC_DEF : 18|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB
+ SG_ HAC_CTL : 19|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,EMS,EPB,TCU
+ SG_ HAC_PAS : 20|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,EMS,EPB,TCU
+ SG_ HAC_DEF : 21|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,EMS,EPB,TCU
+ SG_ ESS_STAT : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,BCM,CLU,EMS,EPB
+ SG_ TQI_TCS : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  EMS,EPB,TCU
+ SG_ TQI_MSR : 32|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  EMS,EPB,TCU
+ SG_ TQI_SLW_TCS : 40|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  EMS,EPB,TCU
+ SG_ CF_Esc_BrkCtl : 48|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ BLA_CTL : 49|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CGW,CLU
+ SG_ AliveCounter_TCS1 : 52|4@1+ (1.0,0.0) [0.0|14.0] ""  EMS,EPB,LDWS_LKAS
+ SG_ CheckSum_TCS1 : 56|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS,EPB,LDWS_LKAS
+
+BO_ 1362 SNV11: 4 SNV
+ SG_ CF_SNV_DisplayControl : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,HUD
+ SG_ CF_Snv_BeepWarning : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,HUD
+ SG_ CF_Snv_WarningMessage : 4|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,HUD
+ SG_ CF_Snv_DetectionEnable : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CLU,HUD
+ SG_ CF_Snv_PedestrianDetect : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU,HUD
+ SG_ CF_Snv_IRLampControl : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU,HUD
+
+BO_ 593 MDPS12: 8 MDPS
+ SG_ CR_Mdps_StrColTq : 0|11@1+ (1.0,-1024.0) [-1024.0|1024.0] ""  LDWS_LKAS
+ SG_ CF_Mdps_Def : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
+ SG_ CF_Mdps_ToiUnavail : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS
+ SG_ CF_Mdps_ToiActive : 13|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS
+ SG_ CF_Mdps_ToiFlt : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS
+ SG_ CF_Mdps_FailStat : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS
+ SG_ CF_Mdps_MsgCount2 : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  ESC,LDWS_LKAS
+ SG_ CF_Mdps_Chksum2 : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  ESC,LDWS_LKAS
+ SG_ CF_Mdps_SErr : 37|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC
+ SG_ CR_Mdps_StrTq : 40|12@1+ (0.01,-20.48) [-20.48|20.47] "Nm"  ESC
+ SG_ CR_Mdps_OutTq : 52|12@1+ (0.1,-204.8) [-204.8|204.7] ""  ESC,LDWS_LKAS
+
+BO_ 1360 IAP11: 3 IAP
+ SG_ CF_Iap_EcoPmodSwi : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Iap_EcoPmodAct : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Iap_ReqWarn : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+
+BO_ 1356 TCU_DCT14: 8 TCU
+ SG_ Vehicle_Stop_Time : 0|5@1+ (1.0,0.0) [0.0|0.0] ""  CLU
+ SG_ HILL_HOLD_WARNING : 5|1@1+ (1.0,0.0) [0.0|0.0] ""  CLU
+
+BO_ 1353 BAT11: 8 EMS
+ SG_ BAT_SNSR_I : 0|16@1+ (0.01,-327.0) [-327.0|328.0] "A"  CGW,CUBIS,IBOX,TMU
+ SG_ BAT_SOC : 16|8@1+ (1.0,0.0) [0.0|100.0] "%"  CGW,CUBIS,IBOX,TMU
+ SG_ BAT_SNSR_V : 24|14@1+ (0.0010,6.0) [6.0|18.0] "V"  CGW,CUBIS,IBOX,TMU
+ SG_ BAT_SNSR_Temp : 38|9@1- (0.5,-40.0) [-40.0|125.0] "deg"  CGW,CUBIS,IBOX,TMU
+ SG_ BAT_SNSR_State : 47|1@1+ (1.0,0.0) [0.0|1.0] ""  CGW,CUBIS,IBOX,TMU
+ SG_ BAT_SOH : 48|7@1+ (1.0,0.0) [0.0|100.0] "%"  CGW,CUBIS,IBOX,TMU
+ SG_ BAT_SNSR_Invalid : 55|1@1+ (1.0,0.0) [0.0|1.0] ""  CGW,CUBIS,IBOX,TMU
+ SG_ BAT_SOF : 56|7@1+ (0.1,0.0) [0.0|12.0] "V"  CGW,CUBIS,IBOX,TMU
+ SG_ BAT_SNSR_Error : 63|1@1+ (1.0,0.0) [0.0|1.0] ""  CGW,CUBIS,IBOX,TMU
+
+BO_ 1351 EMS15: 8 EMS
+ SG_ ECGPOvrd : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,IBOX,SCC
+ SG_ QECACC : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,IBOX
+ SG_ ECFail : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,IBOX
+ SG_ SwitchOffCondExt : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,IBOX
+ SG_ BLECFail : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,IBOX
+ SG_ CF_Ems_IsaAct : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ FA_PV_CAN : 8|8@1+ (0.3906,0.0) [0.0|99.2] "%"  IBOX,LDWS_LKAS,TCU
+ SG_ IntAirTemp : 16|8@1+ (0.75,-48.0) [-48.0|143.25] "deg"  _4WD,ECS,EPB,IBOX,TCU
+ SG_ STATE_DC_OBD : 24|7@1+ (1.0,0.0) [0.0|127.0] ""  IBOX,TCU
+ SG_ INH_DC_OBD : 31|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,TCU
+ SG_ CTR_IG_CYC_OBD : 32|16@1+ (1.0,0.0) [0.0|65535.0] ""  ACU,IBOX,TCU
+ SG_ CTR_CDN_OBD : 48|16@1+ (1.0,0.0) [0.0|65535.0] ""  IBOX,TCU
+
+BO_ 1350 DI_BOX12: 8 DI_BOX
+ SG_ CF_DiBox_FrtInjVDiagReg0 : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
+ SG_ CF_DiBox_FrtInjVDiagReg1 : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
+ SG_ CF_DiBox_FrtInjVDiagReg2 : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
+ SG_ CF_DiBox_SedInjVDiagReg0 : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
+ SG_ CF_DiBox_SedInjVDiagReg1 : 32|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
+ SG_ CF_DiBox_SedInjVDiagReg2 : 40|8@1+ (1.0,0.0) [0.0|255.0] ""  EMS
+ SG_ CR_DiBox_BatVol : 48|8@1+ (0.1,0.0) [0.0|25.5] "V"  EMS
+ SG_ CF_DiBox_SedInjVChg : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_DiBox_FrtInjVChg : 57|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_DiBox_SedInjVErrSPI : 58|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_DiBox_FrtInjVErrSPI : 59|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+
+BO_ 1349 EMS14: 8 EMS
+ SG_ IMMO_LAMP_STAT : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
+ SG_ L_MIL : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,CUBIS,IBOX
+ SG_ IM_STAT : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
+ SG_ AMP_CAN : 3|5@1+ (10.731613,458.98) [458.98|791.660003] "mmHg"  CLU,IBOX,TCU,TPMS
+ SG_ BAT_Alt_FR_Duty : 8|8@1+ (0.4,0.0) [0.0|100.0] "%"  CGW,CUBIS,IBOX,TMU
+ SG_ VB : 24|8@1+ (0.1015625,0.0) [0.0|25.8984375] "V"  CLU,CUBIS,DATC,EPB,FPCM,IBOX
+ SG_ EMS_VS : 32|12@1+ (0.0625,0.0) [0.0|255.875] "km/h"  CLU
+ SG_ TEMP_FUEL : 56|8@1+ (0.75,-48.0) [-48.0|143.25] "deg"  FPCM
+
+BO_ 68 DATC11: 8 DATC
+ SG_ CF_Datc_Type : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
+ SG_ CF_Datc_VerMaj : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
+ SG_ CF_Datc_VerMin : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
+ SG_ CR_Datc_OutTempC : 24|8@1+ (0.5,-41.0) [-41.0|86.5] "deg"  CLU,FPCM
+ SG_ CR_Datc_OutTempF : 32|8@1+ (1.0,-42.0) [-42.0|213.0] "deg"  CLU
+ SG_ CF_Datc_IncarTemp : 40|8@1+ (0.5,-40.0) [-40.0|60.0] "deg"  BCM,CLU
+
+BO_ 67 DATC13: 8 DATC
+ SG_ CF_Datc_TempDispUnit : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,IBOX
+ SG_ CF_Datc_ModDisp : 2|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+ SG_ CF_Datc_IonClean : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Datc_ChgReqDisp : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Datc_IntakeDisp : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Datc_AutoDisp : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Datc_FrDefLed : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,IBOX
+ SG_ CF_Datc_AutoDefogBlink : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Datc_ClmScanDisp : 18|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Datc_AqsDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Datc_AcDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Datc_OpSts : 25|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+ SG_ CF_Mtc_MaxAcDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Datc_DualDisp : 30|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Datc_PwrInf : 32|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+ SG_ CF_Datc_RearManual : 38|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Datc_RearAutoDisp : 40|2@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Datc_RearOffDisp : 42|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Datc_RearClimateScnDisp : 44|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Datc_RearChgReqDisp : 46|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Datc_RearModDisp : 48|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+ SG_ CF_Datc_RearBlwDisp : 52|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+ SG_ CF_Datc_PSModDisp : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+ SG_ CF_Datc_FrontBlwDisp : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,IBOX
+
+BO_ 66 DATC12: 8 DATC
+ SG_ CR_Datc_DrTempDispC : 0|8@1+ (0.5,14.0) [15.0|32.0] "deg"  CLU,IBOX
+ SG_ CR_Datc_DrTempDispF : 8|8@1+ (1.0,56.0) [58.0|90.0] "deg"  CLU,IBOX
+ SG_ CR_Datc_PsTempDispC : 16|8@1+ (0.5,14.0) [15.0|32.0] "deg"  CLU,IBOX
+ SG_ CR_Datc_PsTempDispF : 24|8@1+ (1.0,56.0) [58.0|90.0] "deg"  CLU,IBOX
+ SG_ CR_Datc_RearDrTempDispC : 40|8@1+ (0.5,14.0) [15.0|32.0] "deg"  CLU
+ SG_ CR_Datc_RearDrTempDispF : 48|8@1+ (1.0,58.0) [58.0|90.0] "deg"  CLU
+ SG_ CF_Datc_CO2_Warning : 56|8@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+
+BO_ 1345 CGW1: 8 BCM
+ SG_ CF_Gway_IGNSw : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU,ECS,EMS,EPB,ESC,IBOX,LVR,MDPS,SAS,SCC,ECS,EMS,EPB,ESC,IBOX,LVR,MDPS,SAS,SCC
+ SG_ CF_Gway_RKECmd : 3|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,ECS,EMS,IBOX,ECS,EMS,IBOX
+ SG_ CF_Gway_DrvKeyLockSw : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  ECS,EMS,IBOX,ECS,EMS,IBOX
+ SG_ CF_Gway_DrvKeyUnlockSw : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  ECS,EMS,IBOX,ECS,EMS,IBOX
+ SG_ CF_Gway_DrvDrSw : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ECS,EMS,EPB,ESC,IBOX,SCC,TCU,ECS,EMS,EPB,ESC,IBOX,SCC,TCU
+ SG_ CF_Gway_DrvSeatBeltSw : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,EPB,ESC,IBOX,PSB,TCU,EMS,EPB,ESC,IBOX,PSB,TCU
+ SG_ CF_Gway_TrunkTgSw : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ECS,EMS,EPB,ESC,IBOX,ECS,EMS,EPB,ESC,IBOX
+ SG_ CF_Gway_AstSeatBeltSw : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  IBOX,PSB,IBOX,PSB
+ SG_ CF_Gway_SMKOption : 16|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,IBOX,EMS,IBOX,SMK
+ SG_ CF_Gway_HoodSw : 17|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,EMS,EPB,ESC,IBOX,EMS,EPB,ESC,IBOX
+ SG_ CF_Gway_TurnSigLh : 19|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,EMS,IBOX,LCA,LDWS_LKAS,SCC,EMS,IBOX,LCA,LDWS_LKAS,SCC
+ SG_ CF_Gway_WiperIntT : 21|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS
+ SG_ CF_Gway_WiperIntSw : 24|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS
+ SG_ CF_Gway_WiperLowSw : 25|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS
+ SG_ CF_Gway_WiperHighSw : 26|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS
+ SG_ CF_Gway_WiperAutoSw : 27|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,IBOX,LDWS_LKAS,EMS,ESC,IBOX,LDWS_LKAS
+ SG_ CF_Gway_RainSnsState : 28|3@1+ (1.0,0.0) [0.0|7.0] ""  AFLS,EMS,IBOX,LDWS_LKAS,AFLS,EMS,ESC,IBOX,LDWS_LKAS
+ SG_ CF_Gway_HeadLampLow : 31|1@1+ (1.0,0.0) [0.0|1.0] ""  AFLS,CLU,EMS,IBOX,LDWS_LKAS,SNV,AFLS,EMS,IBOX,LDWS_LKAS,SNV
+ SG_ CF_Gway_HeadLampHigh : 32|1@1+ (1.0,0.0) [0.0|1.0] ""  AFLS,CLU,EMS,IBOX,LDWS_LKAS,AFLS,EMS,IBOX,LDWS_LKAS
+ SG_ CF_Gway_HazardSw : 33|2@1+ (1.0,0.0) [0.0|3.0] ""  ABS,EMS,ESC,IBOX,LCA,LDWS_LKAS,ABS,EMS,ESC,IBOX,LCA,LDWS_LKAS
+ SG_ CF_Gway_AstDrSw : 35|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX,IBOX
+ SG_ CF_Gway_DefoggerRly : 36|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX,EMS,IBOX
+ SG_ CF_Gway_ALightStat : 37|1@1+ (1.0,0.0) [0.0|1.0] ""  AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS
+ SG_ CF_Gway_LightSwState : 38|2@1+ (1.0,0.0) [0.0|3.0] ""  AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS
+ SG_ CF_Gway_Frt_Fog_Act : 40|1@1+ (1.0,0.0) [0.0|1.0] ""  AFLS,CLU,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS
+ SG_ CF_Gway_TSigRHSw : 41|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,LDWS_LKAS,IBOX,LDWS_LKAS
+ SG_ CF_Gway_TSigLHSw : 42|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,LDWS_LKAS,IBOX,LDWS_LKAS
+ SG_ CF_Gway_DriveTypeOption : 43|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX,LDWS_LKAS,IBOX,LDWS_LKAS
+ SG_ CF_Gway_StarterRlyState : 44|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX,EMS,IBOX,SMK
+ SG_ CF_Gway_PassiveAccessLock : 45|2@1+ (1.0,0.0) [0.0|7.0] ""  CLU,ECS,EMS,IBOX,ECS,EMS,IBOX,SMK
+ SG_ CF_Gway_WiperMistSw : 47|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,IBOX,LDWS_LKAS
+ SG_ CF_Gway_PassiveAccessUnlock : 48|2@1+ (1.0,0.0) [0.0|7.0] ""  CLU,ECS,EMS,IBOX,ECS,EMS,IBOX,SMK
+ SG_ CF_Gway_RrSunRoofOpenState : 50|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,DATC,IBOX
+ SG_ CF_Gway_PassingSW : 51|1@1+ (1.0,0.0) [0.0|1.0] ""  AFLS,IBOX,LDWS_LKAS,AFLS,IBOX,LDWS_LKAS
+ SG_ CF_Gway_HBAControlMode : 52|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,LDWS_LKAS,IBOX,LDWS_LKAS
+ SG_ CF_Gway_HLpHighSw : 53|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,LDWS_LKAS,IBOX,LDWS_LKAS
+ SG_ CF_Gway_InhibitRMT : 54|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,EPB,ESC,IBOX,LCA,LDWS_LKAS,MDPS,PGS,SCC,SPAS,TPMS,EPB,ESC,IBOX,LCA,LDWS_LKAS,PGS,SCC,SPAS,TPMS
+ SG_ CF_Gway_RainSnsOption : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ C_SunRoofOpenState : 57|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,DATC,IBOX,DATC,IBOX
+ SG_ CF_Gway_Ign1 : 58|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Gway_Ign2 : 59|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Gway_ParkBrakeSw : 60|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,ESC,IBOX,SCC,ESC,IBOX,SCC
+ SG_ CF_Gway_TurnSigRh : 62|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,EMS,IBOX,LCA,LDWS_LKAS,SCC,EMS,IBOX,LCA,LDWS_LKAS,SCC
+
+BO_ 64 DATC14: 8 DATC
+ SG_ CF_Datc_AqsLevelOut : 0|4@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Datc_DiagMode : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CR_Datc_SelfDiagCode : 8|8@1+ (1.0,-1.0) [0.0|254.0] ""  CLU
+ SG_ DATC_SyncDisp : 16|4@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ DATC_OffDisp : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ DATC_SmartVentDisp : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ DATC_SmartVentOnOffStatus : 24|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ DATC_AutoDefogSysOff_Disp : 26|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ DATC_ADSDisp : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+
+BO_ 832 LKAS11: 8 LDWS_LKAS
+ SG_ CF_Lkas_LdwsActivemode : 0|2@1+ (1,0) [0|3] "" CLU,IBOX,PSB
+ SG_ CF_Lkas_LdwsSysState : 2|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,IBOX,PSB
+ SG_ CF_Lkas_SysWarning : 6|4@1+ (1.0,0.0) [0.0|15.0] ""  BCM,CLU
+ SG_ CF_Lkas_LdwsLHWarning : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU,PSB
+ SG_ CF_Lkas_LdwsRHWarning : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU,PSB
+ SG_ CF_Lkas_HbaLamp : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Lkas_FcwBasReq : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  ABS,ESC
+ SG_ CR_Lkas_StrToqReq : 16|11@1+ (1.0,-1024.0) [-1024.0|1024.0] ""  MDPS
+ SG_ CF_Lkas_ActToi : 27|1@1+ (1.0,0.0) [0.0|1.0] ""  MDPS
+ SG_ CF_Lkas_ToiFlt : 28|1@1+ (1.0,0.0) [0.0|1.0] ""  MDPS
+ SG_ CF_Lkas_HbaSysState : 29|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM,CLU
+ SG_ CF_Lkas_FcwOpt : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Lkas_HbaOpt : 34|2@1+ (1.0,0.0) [0.0|1.0] ""  BCM,CGW
+ SG_ CF_Lkas_MsgCount : 36|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,MDPS
+ SG_ CF_Lkas_FcwSysState : 40|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+ SG_ CF_Lkas_FcwCollisionWarning : 43|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Lkas_FusionState : 45|2@1+ (1.0,0.0) [0.0|3.0] ""  SCC
+ SG_ CF_Lkas_Unknown1 : 47|1@1+ (1.0,0.0) [0.0|1.0] "" XXX
+ SG_ CF_Lkas_Chksum : 48|8@1+ (1.0,0.0) [0.0|255.0] ""  MDPS
+ SG_ CF_Lkas_FcwOpt_USM : 56|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+ SG_ CF_Lkas_LdwsOpt_USM : 59|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,MDPS
+ SG_ CF_Lkas_Unknown2 : 62|2@1+ (1.0,0.0) [0.0|1.0] "" XXX
+
+BO_ 1342 LKAS12: 6 LDWS_LKAS
+ SG_ CF_Lkas_TsrSlifOpt : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_LkasTsrStatus : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Lkas_TsrSpeed_Display_Clu : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU
+ SG_ CF_LkasTsrSpeed_Display_Navi : 24|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM,CLU
+ SG_ CF_Lkas_TsrAddinfo_Display : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_LkasDawStatus : 40|3@1+ (1,0) [0|7] "" CLU
+ SG_ CF_Lkas_Daw_USM : 37|3@1+ (1,0) [0|7] "" CLU
+
+BO_ 1338 TMU_GW_E_01: 8 CLU
+ SG_ CF_Gway_TeleReqDrLock : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ CF_Gway_TeleReqDrUnlock : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ CF_Gway_TeleReqHazard : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ CF_Gway_TeleReqHorn : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ CF_Gway_TeleReqEngineOperate : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+
+BO_ 1078 PAS11: 4 BCM
+ SG_ CF_Gway_PASDisplayFLH : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU,AVM
+ SG_ CF_Gway_PASDisplayFRH : 3|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU,AVM
+ SG_ CF_Gway_PASRsound : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,Dummy
+ SG_ CF_Gway_PASDisplayFCTR : 8|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU,AVM
+ SG_ CF_Gway_PASDisplayRCTR : 11|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU,PGS,AVM
+ SG_ CF_Gway_PASFsound : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,Dummy
+ SG_ CF_Gway_PASDisplayRLH : 16|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU,PGS,AVM
+ SG_ CF_Gway_PASDisplayRRH : 19|3@1+ (1.0,0.0) [0.0|7.0] ""  AVM,CLU,PGS,AVM
+ SG_ CF_Gway_PASCheckSound : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,Dummy
+ SG_ CF_Gway_PASSystemOn : 24|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,Dummy
+ SG_ CF_Gway_PASOption : 26|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Gway_PASDistance : 28|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+
+BO_ 48 EMS18: 6 EMS
+ SG_ CF_Ems_DC1NumPerMSV : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  DI_BOX
+ SG_ CF_Ems_DC2NumPerMSV : 8|16@1+ (1.0,0.0) [0.0|65535.0] ""  DI_BOX
+ SG_ CR_Ems_DutyCyc1MSV : 24|8@1+ (0.1953,0.0) [0.0|49.8] "%"  DI_BOX
+ SG_ CR_Ems_DutyCyc2MSV : 32|8@1+ (0.13725,0.0) [0.0|35.0] "%"  DI_BOX
+ SG_ CR_Ems_DutyCyc3MSV : 40|8@1+ (0.392,0.0) [0.0|100.0] "%"  DI_BOX
+
+BO_ 1322 CLU15: 8 CLU
+ SG_ CF_Clu_VehicleSpeed : 0|8@1+ (1.0,0.0) [0.0|255.0] ""  BCM
+ SG_ CF_Clu_Gear : 9|4@1+ (1,0) [0|15] "" BCM
+ SG_ CF_Clu_HudInfoSet : 13|7@1+ (1.0,0.0) [0.0|127.0] ""  HUD
+ SG_ CF_Clu_HudFontColorSet : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
+ SG_ CF_Clu_HudBrightUpSW : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
+ SG_ CF_Clu_HudBrightDnSW : 24|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
+ SG_ CF_Clu_HudHeightUpSW : 26|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
+ SG_ CF_Clu_HudHeightDnSW : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
+ SG_ CF_Clu_HudSet : 30|1@1+ (1.0,0.0) [0.0|1.0] ""  HUD
+ SG_ CF_Clu_HudFontSizeSet : 31|2@1+ (1.0,0.0) [0.0|3.0] ""  HUD
+ SG_ CF_Clu_LanguageInfo : 33|5@1+ (1.0,0.0) [0.0|31.0] ""  BCM,PGS
+ SG_ CF_Clu_ClusterSound : 38|1@1- (1.0,0.0) [0.0|0.0] ""  BCM,CGW,FATC
+ SG_ CF_Clu_VehicleSpeed2 : 48|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 1066 _4WD13: 6 _4WD
+ SG_ _4WD_CURRENT : 0|8@1+ (0.390625,0.0) [-50.0|50.0] "A"  TCU
+ SG_ _4WD_POSITION : 8|16@1+ (0.015625,0.0) [-180.0|180.0] "Deg"  TCU
+ SG_ _4WD_CLU_THERM_STR : 24|8@1+ (1.0,0.0) [0.0|100.0] "%"  TCU
+ SG_ _4WD_STATUS : 32|8@1+ (1.0,0.0) [0.0|15.0] ""  ESC,TCU
+
+BO_ 1065 _4WD12: 8 _4WD
+ SG_ Ster_Pos : 0|16@1+ (1.0,-600.0) [-600.0|600.0] "Deg"  ESC
+ SG_ FRSS : 16|8@1+ (1.0,0.0) [0.0|254.0] "km/h"  ESC
+ SG_ FLSS : 24|8@1+ (1.0,0.0) [0.0|254.0] "km/h"  ESC
+ SG_ RRSS : 32|8@1+ (1.0,0.0) [0.0|254.0] "km/h"  ESC
+ SG_ RLSS : 40|8@1+ (1.0,0.0) [0.0|254.0] "km/h"  ESC
+ SG_ CLU_PRES : 48|16@1+ (0.0625,-50.0) [-50.0|50.0] "Bar"  ESC
+
+BO_ 809 EMS12: 8 EMS
+ SG_ CONF_TCU m1 : 0|6@1+ (1.0,0.0) [0.0|63.0] ""  _4WD,ACU,BCM,CLU,DATC,EPB,ESC,IBOX,LCA,SMK
+ SG_ CAN_VERS m0 : 0|6@1+ (1.0,0.0) [0.0|7.7] ""  _4WD,ABS,ESC,IBOX
+ SG_ TQ_STND m3 : 0|6@1+ (10.0,0.0) [0.0|630.0] "Nm"  _4WD,DATC,ECS,EPB,ESC,FATC,IBOX
+ SG_ OBD_FRF_ACK m2 : 0|6@1+ (1.0,0.0) [0.0|63.0] ""  _4WD,ESC,IBOX
+ SG_ MUL_CODE M : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,ABS,ACU,BCM,CLU,DATC,ECS,EPB,ESC,IBOX,LCA,SMK,TCU
+ SG_ TEMP_ENG : 8|8@1+ (0.75,-48.0) [-48.0|143.25] "deg"  _4WD,BCM,CLU,DATC,EPB,ESC,IBOX,SMK,TCU
+ SG_ MAF_FAC_ALTI_MMV : 16|8@1+ (0.00781,0.0) [0.0|1.99155] ""  IBOX,TCU
+ SG_ VB_OFF_ACT : 24|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,TCU
+ SG_ ACK_ES : 25|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,IBOX
+ SG_ CONF_MIL_FMY : 26|3@1+ (1.0,0.0) [0.0|7.0] ""  ESC,IBOX,TCU
+ SG_ OD_OFF_REQ : 29|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,TCU
+ SG_ ACC_ACT : 30|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ABS,CLU,ESC,IAP,IBOX,SCC,TCU
+ SG_ CLU_ACK : 31|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EPB,ESC,IBOX
+ SG_ BRAKE_ACT : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,ABS,ACU,AFLS,CLU,DATC,ECS,EPB,ESC,IBOX,LDWS_LKAS,TCU
+ SG_ ENG_CHR : 34|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,ABS,ACU,CLU,DATC,EPB,ESC,FATC,IBOX,SCC,SMK,TCU
+ SG_ GP_CTL : 38|2@1+ (1.0,0.0) [0.0|3.0] ""  IBOX
+ SG_ TPS : 40|8@1+ (0.4694836,-15.0234742) [-15.0234742|104.6948357] "%"  _4WD,ABS,ACU,CLU,DATC,ECS,EPB,ESC,IBOX,TCU
+ SG_ PV_AV_CAN : 48|8@1+ (0.3906,0.0) [0.0|99.603] "%"  _4WD,AAF,ABS,ACU,AFLS,CLU,DATC,EPB,ESC,IAP,IBOX,LDWS_LKAS,SCC,TCU
+ SG_ ENG_VOL : 56|8@1+ (0.1,0.0) [0.0|25.5] "liter"  _4WD,ABS,ACU,BCM,CLU,DATC,EPB,ESC,IBOX,LDWS_LKAS,SCC,SMK
+
+BO_ 1064 _4WD11: 8 _4WD
+ SG_ _4WD_TYPE : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  ACU,ESC,TPMS
+ SG_ _4WD_SUPPORT : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  ABS,ESC,TPMS
+ SG_ _4WD_ERR : 8|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU,ESC
+ SG_ CLU_DUTY : 16|8@1+ (1.0,0.0) [0.0|64.0] "%"  ABS,ESC
+ SG_ R_TIRE : 24|8@1+ (1.0,200.0) [200.0|455.0] "mm"  ABS,ESC,TPMS
+ SG_ _4WD_SW : 32|8@1+ (1.0,0.0) [0.0|9.9] ""  ESC
+ SG_ _2H_ACT : 40|1@1+ (1.0,0.0) [0.0|1.0] ""  ABS,ESC
+ SG_ _4H_ACT : 41|1@1+ (1.0,0.0) [0.0|1.0] ""  ABS,CLU,ESC,TPMS
+ SG_ LOW_ACT : 42|1@1+ (1.0,0.0) [0.0|1.0] ""  ABS,ESC,TCU,TPMS
+ SG_ AUTO_ACT : 43|1@1+ (1.0,0.0) [0.0|1.0] ""  ABS,ESC,TPMS
+ SG_ LOCK_ACT : 44|1@1+ (1.0,0.0) [0.0|1.0] ""  ABS,CLU,ESC,TPMS
+ SG_ _4WD_TQC_CUR : 48|16@1+ (1.0,0.0) [0.0|65535.0] "Nm"  ABS,ESC
+
+BO_ 1319 HU_GW_E_01: 8 CLU
+ SG_ C_ADrLNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
+ SG_ C_ADrUNValueSet : 4|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
+ SG_ C_TwUnNValueSet : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ C_ABuzzerNValueSet : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ C_ArmWKeyNValueSet : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ C_PSMNValueSet : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ C_SCMNValueSet : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ C_HLEscortNValueSet : 18|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ C_WELNValueSet : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ C_TriTurnLNValueSet : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ C_SNVWarnNValueSet : 24|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ C_LkasWarnNValueSet : 26|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+
+BO_ 1318 HU_GW_E_00: 8 CLU
+ SG_ C_ADrLURValueReq : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ C_TwUnRValueReq : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ C_AlarmRValueReq : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ C_IMSRValueReq : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ C_HLEscortRValueReq : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ C_WELRValueReq : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ C_TriTurnLRValueReq : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ C_SNVWarnRValueReq : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ C_LkasWarnRValueReq : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+
+BO_ 1317 GW_HU_E_01: 8 BCM
+ SG_ C_ADrLRValue : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+ SG_ C_ADrURValue : 4|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+ SG_ C_TwUnRValue : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_ABuzzerRValue : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_ArmWKeyRValue : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_PSMRValue : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_SCMRValue : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_HLEscortRValue : 18|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_WELRValue : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_TriTurnLRValue : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+
+BO_ 1316 GW_HU_E_00: 8 BCM
+ SG_ C_ADrLUNValueConf : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_TwUnNValueConf : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_AlarmNValueConf : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_PSMNValueConf : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_SCMNValueConf : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_HLEscortNValueConf : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_WELNValueConf : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_TriTurnLNValueConf : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+
+BO_ 1315 GW_SWRC_PE: 8 BCM
+ SG_ C_ModeSW : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_MuteSW : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_SeekDnSW : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_SeekUpSW : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_BTPhoneCallSW : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_BTPhoneHangUpSW : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_DISCDownSW : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_DISCUpSW : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_SdsSW : 18|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_MTSSW : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_VolDnSW : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_VolUpSW : 24|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+
+BO_ 1314 GW_IPM_PE_1: 8 BCM
+ SG_ C_AV_Tail : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_ParkingBrakeSW : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_RKECMD : 4|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+ SG_ C_BAState : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_IGNSW : 12|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+ SG_ C_CountryCfg : 16|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+ SG_ C_TailLampActivity : 26|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ RearSW_RSELockOnOff : 28|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_SMKTeleCrankingState : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_SMKTeleCrankingFailRes : 34|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+
+BO_ 1057 SCC12: 8 SCC
+ SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] "" ESC
+ SG_ CF_VSM_DecCmdAct : 1|1@1+ (1,0) [0|1] "" ESC
+ SG_ CF_VSM_HBACmd : 2|2@1+ (1,0) [0|3] "" ESC
+ SG_ CF_VSM_Warn : 4|2@1+ (1,0) [0|3] "" CLU,ESC,IAP
+ SG_ CF_VSM_Stat : 6|2@1+ (1,0) [0|3] "" CLU,ESC,PSB
+ SG_ CF_VSM_BeltCmd : 8|3@1+ (1,0) [0|7] "" ESC,PSB
+ SG_ ACCFailInfo : 11|2@1+ (1,0) [0|3] "" CLU,CUBIS,ESC,IBOX
+ SG_ ACCMode : 13|2@1+ (1,0) [0|3] "" CLU,ESC,IBOX,TCU
+ SG_ StopReq : 15|1@1+ (1,0) [0|1] "" EPB,ESC
+ SG_ CR_VSM_DecCmd : 16|8@1+ (0.01,0) [0|2.55] "g" ESC
+ SG_ TakeOverReq : 35|1@1+ (1,0) [0|1] "" CLU,ESC,TCU
+ SG_ PreFill : 36|1@1+ (1,0) [0|1] "" ESC,TCU
+ SG_ CF_VSM_ConfMode : 48|2@1+ (1,0) [0|3] "" CLU,ESC
+ SG_ AEB_Failinfo : 50|2@1+ (1,0) [0|3] "" CLU,ESC
+ SG_ AEB_Status : 52|2@1+ (1,0) [0|3] "" CLU,ESC
+ SG_ AEB_CmdAct : 54|1@1+ (1,0) [0|1] "" ESC
+ SG_ AEB_StopReq : 55|1@1+ (1,0) [0|1] "" CLU,ESC
+ SG_ CR_VSM_Alive : 56|4@1+ (1,0) [0|15] "" ESC,PSB
+ SG_ CR_VSM_ChkSum : 60|4@1+ (1,0) [0|15] "" ESC,PSB
+ SG_ aReqValue : 37|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" Vector__XXX
+ SG_ aReqRaw : 24|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" Vector__XXX
+
+BO_ 1313 GW_DDM_PE: 8 BCM
+ SG_ C_DRVDoorStatus : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_ASTDoorStatus : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_RLDoorStatus : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_RRDoorStatus : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_TrunkStatus : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ C_OSMirrorStatus : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+
+BO_ 1056 SCC11: 8 SCC
+ SG_ MainMode_ACC : 0|1@1+ (1,0) [0|1] "" CLU,EMS,ESC
+ SG_ SCCInfoDisplay : 1|3@1+ (1,0) [0|7] "" CLU,ESC
+ SG_ AliveCounterACC : 4|4@1+ (1,0) [0|15] "" CLU,EMS,ESC,TCU
+ SG_ VSetDis : 8|8@1+ (1,0) [0|255] "km/h or MPH" CLU,ESC,TCU
+ SG_ ObjValid : 16|1@1+ (1,0) [0|1] "" CLU,ESC,TCU
+ SG_ DriverAlertDisplay : 17|2@1+ (1,0) [0|3] "" CLU,ESC
+ SG_ TauGapSet : 19|3@1+ (1,0) [0|7] "" CLU,ESC,TCU
+ SG_ Navi_SCC_Curve_Status : 56|2@1+ (1,0) [0|3] "" CLU
+ SG_ Navi_SCC_Curve_Act : 58|2@1+ (1,0) [0|3] "" CLU
+ SG_ Navi_SCC_Camera_Act : 60|2@1+ (1,0) [0|3] "" CLU
+ SG_ Navi_SCC_Camera_Status : 62|2@1+ (1,0) [0|3] "" CLU
+ SG_ ACC_ObjStatus : 22|2@1+ (1,0) [0|3] "" ABS,ESC
+ SG_ ACC_ObjLatPos : 24|9@1+ (0.1,-20) [-20|31.1] "m" ABS,ESC
+ SG_ ACC_ObjRelSpd : 44|12@1+ (0.1,-170) [-170|239.5] "m/s" ABS,ESC
+ SG_ ACC_ObjDist : 33|11@1+ (0.1,0) [0|204.7] "m" ABS,ESC
+
+BO_ 1312 CGW3: 8 BCM
+ SG_ CR_Photosensor_LH : 0|8@1+ (78.125,0.0) [0.0|20000.0] ""  DATC,DATC
+ SG_ CR_Photosensor_RH : 10|8@1+ (78.125,0.0) [0.0|20000.0] ""  DATC,DATC
+ SG_ CF_Hoodsw_memory : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,EMS
+ SG_ C_MirOutTempSns : 24|8@1+ (0.5,-40.5) [-40.0|60.0] "deg"  AAF,CLU,DATC,EMS,SPAS,AAF,DATC,EMS,SPAS
+
+BO_ 544 ESP12: 8 ESC
+ SG_ LAT_ACCEL : 0|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2"  _4WD,ECS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,TCU
+ SG_ LAT_ACCEL_STAT : 11|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,IBOX,LDWS_LKAS,MDPS,PSB,SCC,TCU
+ SG_ LAT_ACCEL_DIAG : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,IBOX,LDWS_LKAS,MDPS,PSB,SCC,TCU
+ SG_ LONG_ACCEL : 13|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2"  _4WD,ECS,EMS,EPB,IBOX,LCA,LDWS_LKAS,PSB,SCC,SPAS,TCU
+ SG_ LONG_ACCEL_STAT : 24|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU
+ SG_ LONG_ACCEL_DIAG : 25|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,SPAS,TCU
+ SG_ CYL_PRES : 26|12@1+ (0.1,0.0) [0.0|409.5] "Bar"  _4WD,ECS,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,TCU
+ SG_ CYL_PRES_STAT : 38|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ECS,EMS,EPB,IBOX,LDWS_LKAS,PSB,SCC,TCU
+ SG_ CYL_PRESS_DIAG : 39|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ECS,EMS,EPB,IBOX,PSB,SCC,TCU
+ SG_ YAW_RATE : 40|13@1+ (0.01,-40.95) [-40.95|40.96] ""  _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU
+ SG_ YAW_RATE_STAT : 53|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU
+ SG_ YAW_RATE_DIAG : 54|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,AFLS,IBOX,LCA,LDWS_LKAS,MDPS,PSB,SCC,SPAS,TCU
+ SG_ ESP12_Checksum : 56|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
+ SG_ ESP12_AliveCounter : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,LPI,TCU,TMU
+
+BO_ 1307 CLU16: 8 CLU
+ SG_ CF_Clu_TirePressUnitNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  TPMS
+ SG_ CF_Clu_SlifNValueSet : 3|2@1+ (1.0,0.0) [0.0|3.0] ""  LDWS_LKAS
+ SG_ CF_Clu_RearWiperNValueSet : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+
+BO_ 790 EMS11: 8 EMS
+ SG_ SWI_IGK : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ABS,ACU,AHLS,CUBIS,DI_BOX,ECS,EPB,ESC,IBOX,LDWS_LKAS,MDPS,REA,SAS,SCC,TCU
+ SG_ F_N_ENG : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,AFLS,CLU,CUBIS,DATC,ECS,EPB,ESC,IBOX,MDPS,SCC,TCU
+ SG_ ACK_TCS : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,IBOX
+ SG_ PUC_STAT : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,DATC,IBOX,TCU
+ SG_ TQ_COR_STAT : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,ESC,IBOX,TCU
+ SG_ RLY_AC : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  DATC,IBOX,TCU
+ SG_ F_SUB_TQI : 7|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ECS,EPB,ESC,IBOX,TCU
+ SG_ TQI_ACOR : 8|8@1+ (0.390625,0.0) [0.0|99.6094] "%"  _4WD,EPB,ESC,IBOX,TCU
+ SG_ N : 16|16@1+ (0.25,0.0) [0.0|16383.75] "rpm"  _4WD,ACU,AFLS,CLU,CUBIS,DATC,ECS,EPB,ESC,FPCM,IBOX,MDPS,SCC,TCU
+ SG_ TQI : 32|8@1+ (0.390625,0.0) [0.0|99.6094] "%"  _4WD,ECS,EPB,ESC,IBOX,TCU
+ SG_ TQFR : 40|8@1+ (0.390625,0.0) [0.0|99.6094] "%"  _4WD,EPB,ESC,IBOX,TCU
+ SG_ VS : 48|8@1+ (1.0,0.0) [0.0|254.0] "km/h"  _4WD,AAF,ACU,AHLS,BCM,CLU,DATC,ECS,EPB,IBOX,LCA,LDWS_LKAS,LVR,MDPS,ODS,SCC,SMK,SPAS,TCU,TPMS
+ SG_ RATIO_TQI_BAS_MAX_STND : 56|8@1+ (0.0078,0.0) [0.0|2.0] ""  _4WD,IBOX,TCU
+
+BO_ 1301 CLU14: 8 CLU
+ SG_ CF_Clu_ADrUNValueSet : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
+ SG_ CF_Clu_ADrLNValueSet : 3|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
+ SG_ CF_Clu_EscortHLNValueSet : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ CF_Clu_DoorLSNValueSet : 8|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
+ SG_ CF_Clu_PSMNValueSet : 11|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
+ SG_ CF_Clu_TTUnlockNValueSet : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ CF_Clu_PTGMNValueSet : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ CF_Clu_SCMNValueSet : 18|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ CF_Clu_WlightNValueSet : 20|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ CF_Clu_TempUnitNValueSet : 22|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,DATC
+ SG_ CF_Clu_MoodLpNValueSet : 24|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
+ SG_ CF_Clu_TrfChgSet : 27|2@1+ (1.0,0.0) [0.0|3.0] ""  AFLS
+ SG_ CF_Clu_OTTurnNValueSet : 29|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
+ SG_ CF_Clu_LcaNValueSet : 32|2@1+ (1.0,0.0) [0.0|3.0] ""  LCA
+ SG_ CF_Clu_RctaNValueSet : 34|2@1+ (1.0,0.0) [0.0|3.0] ""  LCA
+ SG_ CF_Clu_RcwNValueSet : 36|2@1+ (1.0,0.0) [0.0|3.0] ""  LCA
+ SG_ CF_Clu_EscOffNValueSet : 38|3@1+ (1.0,0.0) [0.0|7.0] ""  ESC
+ SG_ CF_Clu_SccNaviCrvNValueSet : 41|2@1+ (1.0,0.0) [0.0|3.0] ""  SCC
+ SG_ CF_Clu_SccNaviCamNValueSet : 43|2@1+ (1.0,0.0) [0.0|3.0] ""  SCC
+ SG_ CF_Clu_SccAebNValueSet : 45|2@1+ (1.0,0.0) [0.0|3.0] ""  SCC
+ SG_ CF_Clu_LkasModeNValueSet : 47|2@1+ (1.0,0.0) [0.0|3.0] ""  LDWS_LKAS
+ SG_ CF_Clu_FcwNValueSet : 51|2@1+ (1.0,0.0) [0.0|3.0] ""  LDWS_LKAS
+ SG_ CF_Clu_PasSpkrLvNValueSet : 53|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
+ SG_ CF_Clu_SccDrvModeNValueSet : 56|3@1+ (1.0,0.0) [0.0|7.0] ""  SCC
+ SG_ CF_Clu_HAnBNValueSet : 59|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM
+ SG_ CF_Clu_HfreeTrunkTgNValueSet : 61|3@1+ (1.0,0.0) [0.0|7.0] ""  BCM
+
+BO_ 275 TCU13: 8 TCU
+ SG_ N_TGT_LUP : 0|8@1+ (10.0,500.0) [500.0|3040.0] "rpm"  EMS,IBOX
+ SG_ SLOPE_TCU : 8|6@1+ (0.5,-16.0) [-16.0|15.5] "%"  CLU,CUBIS,EMS,IBOX
+ SG_ CF_Tcu_InhCda : 14|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
+ SG_ CF_Tcu_IsgInhib : 15|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
+ SG_ CF_Tcu_BkeOnReq : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,IBOX
+ SG_ CF_Tcu_NCStat : 18|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,IBOX
+ SG_ CF_Tcu_TarGr : 20|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,CLU,DATC,EMS,EPB,ESC,IBOX,SCC
+ SG_ CF_Tcu_ShfPatt : 24|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU,CUBIS,EMS,IBOX
+ SG_ CF_Tcu_InhVis : 28|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
+ SG_ CF_Tcu_PRelReq : 29|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX,LVR
+ SG_ CF_Tcu_ITPhase : 30|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
+ SG_ CF_Tcu_ActEcoRdy : 31|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
+ SG_ CF_Tcu_TqGrdLim : 32|8@1+ (10.0,0.0) [0.0|2540.0] "Nm/s"  EMS,IBOX
+ SG_ CR_Tcu_IsgTgtRPM : 40|8@1+ (20.0,0.0) [0.0|3500.0] "rpm"  EMS,IBOX
+ SG_ CF_Tcu_SptRdy : 48|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,IBOX
+ SG_ CF_Tcu_SbwPInfo : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
+ SG_ CF_Tcu_Alive3 : 58|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,IBOX
+ SG_ CF_Tcu_ChkSum3 : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  EMS,IBOX
+
+BO_ 274 TCU12: 8 TCU
+ SG_ ETL_TCU : 0|8@1+ (2.0,0.0) [0.0|508.0] "Nm"  EMS,IBOX
+ SG_ CUR_GR : 8|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,EMS,ESC,IBOX,SCC,TPMS
+ SG_ CF_Tcu_Alive : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,ESC,IBOX,SCC
+ SG_ CF_Tcu_ChkSum : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,ESC,IBOX,SCC
+ SG_ VS_TCU : 16|8@1+ (1.0,0.0) [0.0|254.0] "km/h"  BCM,CLU,DATC,EMS,IBOX,LCA,LVR,PGS,SMK,SNV
+ SG_ FUEL_CUT_TCU : 28|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
+ SG_ INH_FUEL_CUT : 29|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
+ SG_ IDLE_UP_TCU : 30|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
+ SG_ N_INC_TCU : 31|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS,IBOX
+ SG_ SPK_RTD_TCU : 32|8@1+ (0.375,-23.625) [-15.0|15.0] ""  EMS,IBOX
+ SG_ N_TC_RAW : 40|16@1+ (0.25,0.0) [0.0|16383.5] "rpm"  EMS,IBOX
+ SG_ VS_TCU_DECIMAL : 56|8@1+ (0.0078125,0.0) [0.0|0.9921875] "km/h"  CLU,EMS,IBOX,LCA
+
+BO_ 273 TCU11: 8 TCU
+ SG_ TQI_TCU_INC : 0|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  EMS,ESC,IBOX
+ SG_ G_SEL_DISP : 8|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,AFLS,AVM,BCM,CGW,CLU,CUBIS,ECS,EMS,EPB,ESC,IAP,IBOX,LCA,LDWS_LKAS,LVR,MDPS,PGS,SCC,SMK,SNV,SPAS,TPMS
+ SG_ F_TCU : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,ESC,IBOX
+ SG_ TCU_TYPE : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,EMS,ESC,IBOX
+ SG_ TCU_OBD : 16|3@1+ (1.0,0.0) [0.0|7.0] ""  EMS,ESC,IBOX
+ SG_ SWI_GS : 19|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,EMS,EPB,ESC,IBOX,SCC
+ SG_ GEAR_TYPE : 20|4@1+ (1.0,0.0) [0.0|15.0] ""  _4WD,CLU,EMS,ESC,IBOX,SCC
+ SG_ TQI_TCU : 24|8@1+ (0.390625,0.0) [0.0|99.609375] "%"  EMS,ESC,IBOX
+ SG_ TEMP_AT : 32|8@1+ (1.0,-40.0) [-40.0|214.0] "deg"  AAF,CLU,CUBIS,EMS,ESC,IBOX
+ SG_ N_TC : 40|16@1+ (0.25,0.0) [0.0|16383.5] "rpm"  _4WD,EMS,EPB,ESC,IBOX
+ SG_ SWI_CC : 56|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,CLU,EMS,ESC,IBOX
+ SG_ CF_Tcu_Alive1 : 58|2@1+ (1.0,0.0) [0.0|3.0] ""  EMS,IBOX
+ SG_ CF_Tcu_ChkSum1 : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  EMS,IBOX
+
+BO_ 16 ACU13: 8 ACU
+ SG_ CF_Acu_CshAct : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CUBIS,IBOX,ODS
+
+BO_ 1040 CGW_USM1: 8 BCM
+ SG_ CF_Gway_ATTurnRValue : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Gway_PTGMRValue : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Gway_EscortHLRValue : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Gway_TTUnlockRValue : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Gway_ADrLRValue : 8|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+ SG_ CF_Gway_ADrURValue : 11|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+ SG_ CF_Gway_SCMRValue : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Gway_WlightRValue : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Gway_PSMRValue : 18|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+ SG_ CF_Gway_OTTurnRValue : 21|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+ SG_ CF_Gway_DrLockSoundRValue : 24|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+ SG_ CF_Gway_HAnBRValue : 27|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+ SG_ CF_Gway_MoodLpRValue : 30|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Gway_HfreeTrunkRValue : 32|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+ SG_ CF_Gway_AutoLightRValue : 35|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+ SG_ CF_Gway_RearWiperRValue : 38|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_Gway_PasSpkrLvRValue : 40|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+
+BO_ 1292 CLU13: 8 CLU
+ SG_ CF_Clu_LowfuelWarn : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,FPCM,IBOX
+ SG_ CF_Clu_RefDetMod : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  IBOX
+ SG_ CF_Clu_AvgFCU : 3|2@1+ (1.0,0.0) [0.0|3.0] ""  IBOX
+ SG_ CF_Clu_AvsmCur : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  ESC,SCC
+ SG_ CF_Clu_AvgFCI : 6|10@1+ (0.1,0.0) [0.0|102.2] ""  IBOX
+ SG_ CF_Clu_DrivingModeSwi : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC,ECS,EMS,ESC,IAP,MDPS,TCU
+ SG_ CF_Clu_FuelDispLvl : 18|5@1+ (1.0,0.0) [0.0|31.0] ""  CGW,IBOX
+ SG_ CF_Clu_FlexSteerSW : 23|1@1+ (1.0,0.0) [0.0|1.0] ""  MDPS
+ SG_ CF_Clu_DTE : 24|10@1+ (1.0,0.0) [0.0|1023.0] ""  DATC
+ SG_ CF_Clu_TripUnit : 34|2@1+ (1.0,0.0) [0.0|3.0] ""  DATC
+ SG_ CF_Clu_SWL_Stat : 36|3@1+ (1.0,0.0) [0.0|7.0] ""  ACU,EMS
+ SG_ CF_Clu_ActiveEcoSW : 39|1@1+ (1.0,0.0) [0.0|1.0] ""  DATC,EMS,TCU
+ SG_ CF_Clu_EcoDriveInf : 40|3@1+ (1.0,0.0) [0.0|7.0] ""  CUBIS,EMS,IAP,IBOX
+ SG_ CF_Clu_IsaMainSW : 43|1@1+ (1.0,0.0) [0.0|1.0] ""  EMS
+ SG_ CF_Clu_LdwsLkasSW : 56|1@1+ (1.0,0.0) [0.0|1.0] ""  LDWS_LKAS
+ SG_ CF_Clu_AltLStatus : 59|1@1+ (1.0,0.0) [0.0|1.0] ""  BCM,DATC,EMS
+ SG_ CF_Clu_AliveCnt2 : 60|4@1+ (1.0,0.0) [0.0|15.0] ""  EMS,LDWS_LKAS
+
+BO_ 1290 SCC13: 8 SCC
+ SG_ SCCDrvModeRValue : 0|3@1+ (1,0) [0|7] "" CLU
+ SG_ SCC_Equip : 3|1@1+ (1,0) [0|1] "" ESC
+ SG_ AebDrvSetStatus : 4|3@1+ (1,0) [0|7] "" CLU,ESC
+ SG_ Lead_Veh_Dep_Alert_USM : 13|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1287 TCS15: 4 ESC
+ SG_ ABS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU,CUBIS,IBOX
+ SG_ TCS_OFF_LAMP : 1|2@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,ACU,CLU
+ SG_ TCS_LAMP : 3|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,ACU,CLU,CUBIS,IBOX,SCC
+ SG_ DBC_W_LAMP : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU
+ SG_ DBC_F_LAMP : 6|2@1+ (1.0,0.0) [0.0|3.0] ""  _4WD,CLU
+ SG_ ESC_Off_Step : 8|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ AVH_CLU : 16|8@1+ (1.0,0.0) [0.0|255.0] ""  CLU,EPB
+ SG_ AVH_I_LAMP : 24|2@1+ (1.0,0.0) [0.0|3.0] ""  EPB
+ SG_ EBD_W_LAMP : 26|1@1+ (1.0,0.0) [0.0|1.0] ""  _4WD,CLU
+ SG_ AVH_ALARM : 27|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ AVH_LAMP : 29|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,EPB,SPAS
+
+BO_ 1282 TCU14: 4 TCU
+ SG_ CF_TCU_WarnMsg : 0|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU
+ SG_ CF_TCU_WarnImg : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_TCU_WarnSnd : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ CF_Tcu_GSel_BlinkReq : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,LVR
+ SG_ CF_Tcu_StRelStat : 12|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,EMS,ESC
+ SG_ CF_Tcu_DriWarn1 : 13|3@1+ (1.0,0.0) [0.0|7.0] ""  CLU,EMS,ESC
+ SG_ CF_Tcu_DriWarn2 : 16|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU,EMS,ESC
+
+BO_ 1281 ECS11: 3 ECS
+ SG_ ECS_W_LAMP : 0|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU,CUBIS,IBOX
+ SG_ SYS_NA : 1|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ ECS_DEF : 2|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ ECS_DIAG : 3|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ L_CHG_NA : 4|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ Leveling_Off : 5|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ LC_overheat : 6|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ Lifting : 8|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ Lowering : 9|1@1+ (1.0,0.0) [0.0|1.0] ""  CLU
+ SG_ Damping_Mode : 10|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ REQ_Damping : 12|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ REQ_Height : 14|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ REQ_level : 16|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+ SG_ ACT_Height : 20|4@1+ (1.0,0.0) [0.0|15.0] ""  CLU
+
+BO_ 1024 CLU_CFG11: 2 CLU
+ SG_ Vehicle_Type : 0|16@1+ (1.0,0.0) [0.0|65536.0] ""  _4WD
+
+BO_ 1280 ACU14: 1 ACU
+ SG_ CF_SWL_Ind : 0|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_TTL_Ind : 2|2@1+ (1.0,0.0) [0.0|3.0] ""  CLU
+ SG_ CF_SBR_Ind : 4|2@1+ (1.0,0.0) [0.0|3.0] ""  BCM,CLU
+
+BO_ 512 EMS20: 6 EMS
+ SG_ HYDROGEN_GEAR_SHIFTER : 11|3@1+ (1,0) [0|7] "" XXX
+ SG_ CF_Ems_PumpTPres : 16|8@1+ (3.137254902,0.0) [0.0|800.0] "kPa"  FPCM,IBOX
+ SG_ Split_Stat : 32|1@1+ (1.0,0.0) [0.0|1.0] ""  FPCM
+
+BO_ 909 FCA11: 8 FCA
+ SG_ CF_VSM_Prefill : 0|1@1+ (1,0) [0|1] "" ESC
+ SG_ CF_VSM_HBACmd : 1|2@1+ (1,0) [0|3] "" ESC
+ SG_ CF_VSM_Warn : 3|2@1+ (1,0) [0|3] "" ACU,CLU,ESC
+ SG_ CF_VSM_BeltCmd : 5|3@1+ (1,0) [0|7] "" ESC
+ SG_ CR_VSM_DecCmd : 8|8@1+ (0.01,0) [0|2.55] "g" ESC
+ SG_ FCA_Status : 18|2@1+ (1,0) [0|3] "" ACU,CLU,ESC
+ SG_ FCA_CmdAct : 20|1@1+ (1,0) [0|1] "" ESC
+ SG_ FCA_StopReq : 21|1@1+ (1,0) [0|1] "" CLU,ESC
+ SG_ FCA_DrvSetStatus : 22|3@1+ (1,0) [0|7] "" CLU,ESC
+ SG_ CF_VSM_DecCmdAct : 31|1@1+ (1,0) [0|1] "" ESC
+ SG_ FCA_Failinfo : 32|3@1+ (1,0) [0|7] "" ACU,CLU,ESC
+ SG_ CR_FCA_Alive : 35|4@1+ (1,0) [0|15] "" ESC
+ SG_ FCA_RelativeVelocity : 39|9@1+ (0.1,-25.5) [-25.5|25.5] "m/s" iBAU
+ SG_ FCA_TimetoCollision : 48|8@1+ (10,0) [0|2540] "ms" iBAU
+ SG_ CR_FCA_ChkSum : 56|8@1+ (1,0) [0|255] "" ESC
+ SG_ PAINT1_Status : 16|2@1+ (1,0) [0|1] "" XXX
+
+BO_ 1156 HDA11_MFC: 8 XXX
+ SG_ Counter : 5|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_1 : 1|2@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_2 : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_4 : 16|2@1+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 18|14@1+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_6 : 33|2@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 34|14@1+ (1,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_8 : 49|2@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_9 : 50|14@1- (1,-4095) [0|16383] "" XXX
+
+BO_ 1155 FCA12: 8 FCA
+ SG_ FCA_USM : 0|3@1+ (1,0) [0|7] "" CGW,CLU,ESC
+ SG_ FCA_DrvSetState : 3|3@1+ (1,0) [0|7] "" CGW
+
+BO_ 1186 FRT_RADAR11: 2 FCA
+ SG_ CF_FCA_Equip_Front_Radar : 0|3@1+ (1,0) [0|7] "" LDWS_LKAS,LDW_LKA,ESC
+
+BO_ 905 SCC14: 8 SCC
+ SG_ ComfortBandUpper : 0|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC
+ SG_ ComfortBandLower : 6|6@1+ (0.02,0) [0|1.26] "m/s^2" ESC
+ SG_ JerkUpperLimit : 12|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
+ SG_ JerkLowerLimit : 19|7@1+ (0.1,0) [0|12.7] "m/s^3" ESC
+ SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC
+ SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC
+
+BO_ 1157 LFAHDA_MFC: 8 XXX
+ SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX
+ SG_ HDA_Active : 2|1@1+ (1,0) [0|1] "" XXX
+ SG_ HDA_Icon_State : 3|2@1+ (1,0) [0|3] "" XXX
+ SG_ HDA_Chime : 7|1@1+ (1,0) [0|1] "" XXX
+ SG_ HDA_VSetReq : 8|8@1+ (1,0) [0|255] "km/h" XXX
+ SG_ LFA_SysWarning : 16|3@1+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_1 : 20|3@1+ (1,0) [0|7] "" XXX
+ SG_ LFA_Icon_State : 24|2@1+ (1,0) [0|3] "" XXX
+ SG_ LFA_USM : 27|2@1+ (1,0) [0|3] "" XXX
+ SG_ HDA_SysWarning : 29|2@1+ (1,0) [0|3] "" XXX
+
+BO_ 913 BCM_PO_11: 8 Vector__XXX
+ SG_ BCM_Door_Dri_Status : 5|1@0+ (1,0) [0|1] "" PT_ESC_ABS
+ SG_ BCM_Shift_R_MT_SW_Status : 39|2@0+ (1,0) [0|3] "" PT_ESC_ABS
+ SG_ LDA_BTN : 4|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1426 LABEL11: 8 XXX
+ SG_ CC_React : 34|1@1+ (1,0) [0|1] "" XXX
+
+BO_ 910 WHL_SPD12_FS: 5 iBAU
+ SG_ CRC : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ WHL_SPD12_AliveCounter : 8|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ WHL_SPD_FL : 12|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
+ SG_ WHL_SPD_FR : 26|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
+
+BO_ 911 WHL_SPD13_FS: 5 iBAU
+ SG_ CRC : 0|8@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ WHL_SPD13_AliveCounter : 8|4@1+ (1,0) [0|15] "" Vector__XXX
+ SG_ WHL_SPD_RL : 12|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
+ SG_ WHL_SPD_RR : 26|14@1+ (0.03125,0) [0|511.96875] "km/h" Vector__XXX
+
+BO_ 865 ADAS_PRK_11: 8 ADAS_PRK
+ SG_ CF_PCA_BrkReq : 24|1@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ CF_PCA_DclTrgtVal : 28|4@1+ (0.04,0) [0|0] "g" Vector__XXX
+ SG_ PCA_ALIVE_CNT : 40|4@1+ (1,0) [0|0] "" Vector__XXX
+ SG_ PCA_CHECK_SUM : 48|8@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 882 ELECT_GEAR: 8 XXX
+ SG_ Elect_Gear_Shifter : 16|4@1+ (1,0) [0|7] "" CLU
+ SG_ SLC_ON : 31|1@0+ (1,0) [0|1] "" CLU
+ SG_ SLC_SET_SPEED : 32|8@1+ (1,0) [0|255] "" CLU
+
+BO_ 881 E_EMS11: 8 XXX
+ SG_ Brake_Pedal_Pos : 0|8@1+ (1,0) [0|127] "" XXX
+ SG_ IG_Reactive_Stat : 8|3@1+ (1,0) [0|3] "" XXX
+ SG_ Gear_Change : 12|1@0+ (1,0) [0|31] "" XXX
+ SG_ Cruise_Limit_Status : 13|1@1+ (1,0) [0|1] "" XXX
+ SG_ Cruise_Limit_Target : 23|8@1+ (1,0) [0|15] "" XXX
+ SG_ Accel_Pedal_Pos : 31|8@1+ (1,0) [0|254] "" XXX
+ SG_ CR_Vcu_AccPedDep_Pos : 56|8@1+ (1,0) [0|254] "" XXX
+
+BO_ 1355 EV_PC6: 8 CGW
+ SG_ CF_Vcu_SbwWarnMsg : 16|3@1+ (1,0) [0|7] "" Vector__XXX
+
+BO_ 1429 E_CRUISE_CONTROL: 8 XXX
+ SG_ CRUISE_LAMP_M : 50|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_LAMP_S : 51|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1430 EV_PC2: 8 CGW
+ SG_ CR_Ldc_ActVol_LS_V : 32|8@1+ (0.1,0) [0|0] "V" Vector__XXX
+
+BO_ 1535 EV_PC10: 8 CGW
+ SG_ CF_Vcu_EpbRequest : 37|1@1+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 908 RSPA11: 8 RSPA
+ SG_ CF_RSPA_State : 0|4@1+ (1,0) [0|15] "" XXX
+ SG_ CF_RSPA_Act : 4|2@1+ (1,0) [0|3] "" XXX
+ SG_ CF_RSPA_DecCmd : 6|2@1+ (1,0) [0|3] "" XXX
+ SG_ CF_RSPA_Trgt_Spd : 8|10@1+ (0.01,0) [0|10.23] "km/h" XXX
+ SG_ CF_RSPA_StopReq : 18|1@1+ (1,0) [0|2] "" XXX
+ SG_ CR_RSPA_EPB_Req : 22|2@1+ (1,0) [0|3] "" XXX
+ SG_ CF_RSPA_ACC_ACT : 50|1@1+ (1,0) [0|2] "" XXX
+ SG_ CF_RSPA_AliveCounter : 52|4@1+ (1,0) [0|15] "" XXX
+ SG_ CF_RSPA_CRC : 56|8@1+ (1,0) [0|255] "" XXX
+
+BO_ 914 S_MDPS11: 8 XXX
+ SG_ CF_Mdps_Stat : 0|4@1+ (1,0) [0|15] "" XXX
+ SG_ CR_Mdps_DrvTq : 8|12@1+ (1,0) [0|15] "" XXX
+ SG_ CR_Mdps_StrAng : 24|16@1- (1,0) [0|65535] "" XXX
+ SG_ CF_Mdps_AliveCnt : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ CF_Mdps_Chksum : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 357 S_MDPS12: 8 XXX
+ SG_ NEW_SIGNAL_1 : 0|12@1+ (1,0) [0|4095] "" XXX
+ SG_ NEW_SIGNAL_2 : 12|12@1+ (1,0) [0|4095] "" XXX
+ SG_ Counter : 48|4@1+ (1,0) [0|15] "" XXX
+ SG_ Checksum : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 352 AHB1: 8 iBAU
+ SG_ CF_Ahb_SLmp : 0|2@1+ (1,0) [0|3] "" CLU
+ SG_ CF_Ahb_Def : 2|2@1+ (1,0) [0|3] "" CGW
+ SG_ CF_Ahb_Act : 4|2@1+ (1,0) [0|3] "" Vector__XXX
+ SG_ CF_Ahb_Diag : 6|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ CF_Ahb_WLmp : 7|1@1+ (1,0) [0|1] "" CLU
+ SG_ CR_Ahb_StDep_mm : 8|16@1- (0.1,0) [-3276.8|3276.7] "mm" Vector__XXX
+ SG_ CF_Ahb_SnsFail : 24|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ CF_Ahb_PedalCalStat : 25|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ CF_Ahb_Bzzr : 26|1@1+ (1,0) [0|1] "" Vector__XXX
+ SG_ CF_Ahb_ChkSum : 56|8@1+ (1,0) [0|255] "" Vector__XXX
+
+BO_ 1191 MFC_4a7: 8 XXX
+ SG_ PAINT1 : 0|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1162 BCA11: 8 BCW
+ SG_ CF_BCA_State : 16|3@1+ (1,0) [0|7] "" CLU,iBAU
+ SG_ CF_BCA_Warning : 19|2@1+ (1,0) [0|3] "" CLU,iBAU
+ SG_ AliveCounter : 21|4@1+ (1,0) [0|15] "" CLU,iBAU
+ SG_ RCCA_Brake_Command : 29|1@1+ (1,0) [0|1] "" iBAU
+ SG_ Check_Sum : 56|8@1+ (1,0) [0|16] "" iBAU
+
+BO_ 1136 P_STS: 8 CGW
+ SG_ HCU1_STS : 6|2@1+ (1,0) [0|3] "" BCW,EPB,FCA,MDPS,SCC,iBAU
+ SG_ HCU5_STS : 8|2@1+ (1,0) [0|3] "" EPB,FCA,MDPS,iBAU
+ SG_ Counter : 58|4@1+ (1,0) [0|15] "" MDPS
+ SG_ Checksum : 62|2@1+ (1,0) [0|3] "" MDPS
+
+BO_ 304 YRS11: 8 ACU
+ SG_ CR_Yrs_Yr : 0|16@1+ (0.005,-163.84) [-163.84|163.83] "deg/s" CGW,iBAU
+ SG_ CR_Yrs_LatAc : 16|16@1+ (0.000127465,-4.17677312) [-4.17677312|4.17651819] "g" iBAU
+ SG_ CF_Yrs_YrStat : 32|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CF_Yrs_LatAcStat : 36|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CF_Yrs_MCUStat : 40|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CR_Yrs_MsgCnt1 : 48|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CR_Yrs_Crc1 : 56|8@1+ (1,0) [0|255] "" iBAU
+
+BO_ 320 YRS12: 8 ACU
+ SG_ CF_Yrs_LongAcStat : 16|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CF_IMU_ResetStat : 20|4@1+ (1,0) [0|15] "" iBAU
+ SG_ YRS_Temp : 24|8@1+ (1,-68) [-68|187] "" iBAU
+ SG_ YRS_TempStat : 32|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CF_Yrs_Type : 36|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CR_Yrs_MsgCnt2 : 48|4@1+ (1,0) [0|15] "" iBAU
+ SG_ CR_Yrs_Crc2 : 56|8@1+ (1,0) [0|255] "" iBAU
+ SG_ CR_Yrs_LongAc : 0|16@1+ (0.000127465,-4.17677312) [-4.17677312|4.17651819] "g" CGW,iBAU
+
+BO_ 1173 YRS13: 8 ACU
+ SG_ YRS_SeralNo : 16|48@1+ (1,0) [0|281474976710655] "" iBAU
+
+BO_ 870 EMS_366: 8 EMS
+ SG_ TQI_1 : 0|8@1+ (0.390625,0) [0|99.6094] "%" MDPS
+ SG_ N : 8|16@1+ (0.25,0.0) [0.0|16383.75] "rpm" MDPS
+ SG_ TQI_2 : 24|8@1+ (0.390625,0) [0|99.6094] "%" MDPS
+ SG_ VS : 40|8@1+ (1,0) [0|255] "km/h" MDPS
+ SG_ SWI_IGK : 48|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 854 M_356: 8 XXX
+ SG_ PAINT1 : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ PAINT2 : 34|2@0+ (1,0) [0|1] "" XXX
+ SG_ PAINT3 : 36|2@0+ (1,0) [0|3] "" XXX
+ SG_ PAINT4 : 38|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 ICM_412h: 8 ICM
+ SG_ T_Outside_input : 0|9@0+ (0.01,0) [0|5] "V" Vector__XXX
+ SG_ WarningSoundOutput_1Group : 5|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ WarningSoundOutput_2Group : 6|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ WarningSoundOutput_3Group : 7|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ TRIP_A_DT_Display_clock : 22|7@0+ (1,0) [0|99] "clock" Vector__XXX
+ SG_ TRIP_A_DT_Display_minute : 29|6@0+ (1,0) [0|59] "minute" Vector__XXX
+ SG_ TRIP_B_DT_Display_clock : 38|7@0+ (1,0) [0|99] "clock" Vector__XXX
+ SG_ TRIP_B_DT_Display_minute : 45|6@0+ (1,0) [0|59] "minute" Vector__XXX
+ SG_ PopupMessageOutput_1Level : 48|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_2Level : 49|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_3Level : 50|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_4Level : 51|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_5Level : 52|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_6Level : 53|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_7Level : 54|1@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ PopupMessageOutput_8Level : 55|1@0+ (1,0) [0|1] "" Vector__XXX
+
+BO_ 1348 Navi_HU: 8 XXX
+ SG_ SpeedLim_Nav_Clu : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SpeedLim_Nav_General : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ SpeedLim_Nav_Cam : 30|1@0+ (1,0) [0|1] "" XXX
+
+CM_ "BO_ E_EMS11: All (plug-in) hybrids use this gas signal: CR_Vcu_AccPedDep_Pos, and all EVs use the Accel_Pedal_Pos signal. See hyundai/values.py for a specific car list";
+CM_ 145 "Contains signal with accelerator pedal press. Used by fuel cell hydrogen-powered (FCEV) cars such as the 2021 Hyundai Nexo.";
+CM_ 512 "Contains signal with gear shifter. Used by fuel cell hydrogen-powered (FCEV) cars such as the 2021 Hyundai Nexo.";
+CM_ SG_ 871 CF_Lvr_IsgState "Idle Stop and Go";
+CM_ SG_ 1056 SCCInfoDisplay "Goes to 1 for a second while transitioning from Cruise Control to No Message";
+CM_ SG_ 1348 SpeedLim_Nav_Clu "Speed limit displayed on Nav, Cluster and HUD";
+
+VAL_ 274 CUR_GR 1 "D" 2 "D" 3 "D" 4 "D" 5 "D" 6 "D" 7 "D" 8 "D" 14 "R" 0 "P";
+VAL_ 512 HYDROGEN_GEAR_SHIFTER 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
+VAL_ 871 CF_Lvr_IsgState 0 "enabled" 1 "activated" 2 "unknown" 3 "disabled";
+VAL_ 871 CF_Lvr_Gear 12 "T" 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
+VAL_ 882 Elect_Gear_Shifter 4 "S" 5 "D" 8 "S" 6 "N" 7 "R" 0 "P";
+VAL_ 905 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault" 4 "cancelled";
+VAL_ 909 CF_VSM_Warn 2 "FCW" 3 "AEB";
+VAL_ 916 ACCEnable 0 "SCC ready" 1 "SCC temp fault" 2 "SCC permanent fault" 3 "SCC permanent fault, communication issue";
+VAL_ 1056 SCCInfoDisplay 0 "No Message" 2 "Cruise Control" 3 "Lost Lead" 4 "Standstill";
+VAL_ 1057 ACCMode 0 "off" 1 "enabled" 2 "driver_override" 3 "off_maybe_fault";
+VAL_ 1157 HDA_Icon_State 0 "no_hda" 1 "white_hda" 2 "green_hda";
+VAL_ 1157 LFA_SysWarning 0 "no_message" 1 "switching_to_hda" 2 "switching_to_scc" 3 "lfa_error" 4 "check_hda" 5 "keep_hands_on_wheel_orange" 6 "keep_hands_on_wheel_red";
+VAL_ 1157 LFA_Icon_State 0 "no_wheel" 1 "white_wheel" 2 "green_wheel" 3 "green_wheel_blink";
+VAL_ 1157 HDA_SysWarning 0 "no_message" 1 "driving_convenience_systems_cancelled" 2 "highway_drive_assist_system_cancelled";
+VAL_ 1322 CF_Clu_Gear 1 "P" 2 "R" 4 "N" 8 "D";
diff --git a/opendbc_repo/opendbc/dbc/hyundai_kia_generic.dbc b/opendbc_repo/opendbc/dbc/hyundai_kia_generic.dbc
index 5c3b59761..befafd0f1 100644
--- a/opendbc_repo/opendbc/dbc/hyundai_kia_generic.dbc
+++ b/opendbc_repo/opendbc/dbc/hyundai_kia_generic.dbc
@@ -1481,7 +1481,7 @@ BO_ 905 SCC14: 8 SCC
  SG_ ACCMode : 32|3@1+ (1,0) [0|7] "" CLU,HUD,LDWS_LKAS,ESC
  SG_ ObjGap : 56|8@1+ (1,0) [0|255] "" CLU,HUD,ESC
 
-BO_ 1157 LFAHDA_MFC: 8 XXX
+BO_ 1157 LFAHDA_MFC: 4 XXX
  SG_ HDA_USM : 0|2@1+ (1,0) [0|3] "" XXX
  SG_ HDA_Active : 2|1@1+ (1,0) [0|1] "" XXX
  SG_ HDA_Icon_State : 3|2@1+ (1,0) [0|3] "" XXX
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai.h b/opendbc_repo/opendbc/safety/modes/hyundai.h
index 0851a3ed3..8781c7b9d 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai.h
@@ -25,13 +25,13 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
   .min_accel = -350,  // 1/100 m/s2
 };
 
-#define HYUNDAI_COMMON_TX_MSGS(scc_bus) \
-  {0x340, 0,       8, .check_relay = true},   /* LKAS11 Bus 0                              */ \
-  {0x4F1, scc_bus, 4, .check_relay = false},  /* CLU11 Bus 0 (radar-SCC) or 2 (camera-SCC) */ \
-  {0x485, 0,       8, .check_relay = true},   /* LFAHDA_MFC Bus 0                          */ \
+#define HYUNDAI_COMMON_TX_MSGS(scc_bus, can_refresh) \
+  {0x340, 0,                           8, .check_relay = true},   /* LKAS11 Bus 0                              */ \
+  {0x4F1, scc_bus,                     4, .check_relay = false},  /* CLU11 Bus 0 (radar-SCC) or 2 (camera-SCC) */ \
+  {0x485, 0,       (can_refresh) ? 8 : 4, .check_relay = true},   /* LFAHDA_MFC Bus 0                          */ \
 
-#define HYUNDAI_LONG_COMMON_TX_MSGS(scc_bus) \
-  HYUNDAI_COMMON_TX_MSGS(scc_bus) \
+#define HYUNDAI_LONG_COMMON_TX_MSGS(scc_bus, can_refresh) \
+  HYUNDAI_COMMON_TX_MSGS(scc_bus, can_refresh) \
   {0x420, 0,       8, .check_relay = true},   /* SCC11 Bus 0       */ \
   {0x421, 0,       8, .check_relay = true},   /* SCC12 Bus 0       */ \
   {0x50A, 0,       8, .check_relay = true},   /* SCC13 Bus 0       */ \
@@ -67,11 +67,22 @@ const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
   {.msg = {{0x592U, 0, 8, 10U, .ignore_checksum = true, .ignore_counter = true, .ignore_quality_flag = true}, { 0 }, { 0 }}}, \
 
 static const CanMsg HYUNDAI_TX_MSGS[] = {
-  HYUNDAI_COMMON_TX_MSGS(0)
+  HYUNDAI_COMMON_TX_MSGS(0, false)
+};
+
+static const CanMsg HYUNDAI_REFRESH_TX_MSGS[] = {
+  HYUNDAI_COMMON_TX_MSGS(0, true)
 };
 
 static const CanMsg HYUNDAI_LONG_TX_MSGS[] = {
-  HYUNDAI_LONG_COMMON_TX_MSGS(0)
+  HYUNDAI_LONG_COMMON_TX_MSGS(0, false)
+  {0x38D, 0, 8, .check_relay = false}, // FCA11 Bus 0
+  {0x483, 0, 8, .check_relay = false}, // FCA12 Bus 0
+  {0x7D0, 0, 8, .check_relay = false}, // radar UDS TX addr Bus 0 (for radar disable)
+};
+
+static const CanMsg HYUNDAI_LONG_REFRESH_TX_MSGS[] = {
+  HYUNDAI_LONG_COMMON_TX_MSGS(0, true)
   {0x38D, 0, 8, .check_relay = false}, // FCA11 Bus 0
   {0x483, 0, 8, .check_relay = false}, // FCA12 Bus 0
   {0x7D0, 0, 8, .check_relay = false}, // radar UDS TX addr Bus 0 (for radar disable)
@@ -330,11 +341,19 @@ static bool hyundai_tx_hook(const CANPacket_t *msg) {
 
 static safety_config hyundai_init(uint16_t param) {
   static const CanMsg HYUNDAI_CAMERA_SCC_TX_MSGS[] = {
-    HYUNDAI_COMMON_TX_MSGS(2)
+    HYUNDAI_COMMON_TX_MSGS(2, false)
+  };
+
+  static const CanMsg HYUNDAI_CAMERA_SCC_REFRESH_TX_MSGS[] = {
+    HYUNDAI_COMMON_TX_MSGS(2, true)
   };
 
   static const CanMsg HYUNDAI_CAMERA_SCC_LONG_TX_MSGS[] = {
-    HYUNDAI_LONG_COMMON_TX_MSGS(2)
+    HYUNDAI_LONG_COMMON_TX_MSGS(2, false)
+  };
+
+  static const CanMsg HYUNDAI_CAMERA_SCC_LONG_REFRESH_TX_MSGS[] = {
+    HYUNDAI_LONG_COMMON_TX_MSGS(2, true)
   };
 
   static const CanMsg HYUNDAI_CAN_CANFD_BLENDED_TX_MSGS[] = {
@@ -403,11 +422,19 @@ static safety_config hyundai_init(uint16_t param) {
       }
     }
     if (hyundai_camera_scc) {
-      SET_TX_MSGS(HYUNDAI_CAMERA_SCC_LONG_TX_MSGS, ret);
+      if (hyundai_can_refresh_msgs) {
+        SET_TX_MSGS(HYUNDAI_CAMERA_SCC_LONG_REFRESH_TX_MSGS, ret);
+      } else {
+        SET_TX_MSGS(HYUNDAI_CAMERA_SCC_LONG_TX_MSGS, ret);
+      }
     } else if (hyundai_can_canfd_blended) {
       SET_TX_MSGS(HYUNDAI_CAN_CANFD_BLENDED_LONG_TX_MSGS, ret);
     } else {
-      SET_TX_MSGS(HYUNDAI_LONG_TX_MSGS, ret);
+      if (hyundai_can_refresh_msgs) {
+        SET_TX_MSGS(HYUNDAI_LONG_REFRESH_TX_MSGS, ret);
+      } else {
+        SET_TX_MSGS(HYUNDAI_LONG_TX_MSGS, ret);
+      }
     }
 
   } else if (hyundai_camera_scc) {
@@ -425,9 +452,14 @@ static safety_config hyundai_init(uint16_t param) {
     };
 
     if (hyundai_has_lda_button) {
-      ret = BUILD_SAFETY_CFG(hyundai_cam_scc_rx_checks_lda, HYUNDAI_CAMERA_SCC_TX_MSGS);
+      SET_RX_CHECKS(hyundai_cam_scc_rx_checks_lda, ret);
     } else {
-      ret = BUILD_SAFETY_CFG(hyundai_cam_scc_rx_checks, HYUNDAI_CAMERA_SCC_TX_MSGS);
+      SET_RX_CHECKS(hyundai_cam_scc_rx_checks, ret);
+    }
+    if (hyundai_can_refresh_msgs) {
+      SET_TX_MSGS(HYUNDAI_CAMERA_SCC_REFRESH_TX_MSGS, ret);
+    } else {
+      SET_TX_MSGS(HYUNDAI_CAMERA_SCC_TX_MSGS, ret);
     }
   } else if (hyundai_can_canfd_blended) {
     static RxCheck hyundai_can_canfd_blended_rx_checks[] = {
@@ -509,7 +541,11 @@ static safety_config hyundai_init(uint16_t param) {
       HYUNDAI_LDA_BUTTON_ADDR_CHECK
     };
 
-    SET_TX_MSGS(HYUNDAI_TX_MSGS, ret);
+    if (hyundai_can_refresh_msgs) {
+      SET_TX_MSGS(HYUNDAI_REFRESH_TX_MSGS, ret);
+    } else {
+      SET_TX_MSGS(HYUNDAI_TX_MSGS, ret);
+    }
     if (hyundai_fcev_gas_signal) {
       if (hyundai_has_lda_button) {
         SET_RX_CHECKS(hyundai_fcev_rx_checks_lda, ret);
@@ -557,6 +593,7 @@ static safety_config hyundai_legacy_init(uint16_t param) {
   hyundai_common_init(param);
   hyundai_legacy = true;
   hyundai_camera_scc = false;
+  hyundai_can_refresh_msgs = false;
   return hyundai_longitudinal ? BUILD_SAFETY_CFG(hyundai_legacy_rx_checks, HYUNDAI_LONG_TX_MSGS) :
                                 BUILD_SAFETY_CFG(hyundai_legacy_rx_checks, HYUNDAI_TX_MSGS);
 }
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_common.h b/opendbc_repo/opendbc/safety/modes/hyundai_common.h
index aeeeaee09..a5604290f 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai_common.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai_common.h
@@ -57,6 +57,9 @@ bool hyundai_non_scc = false;
 extern bool hyundai_cancel_button_enable;
 bool hyundai_cancel_button_enable = false;
 
+extern bool hyundai_can_refresh_msgs;
+bool hyundai_can_refresh_msgs = false;
+
 static uint8_t hyundai_last_button_interaction;  // button messages since the user pressed an enable button
 static bool acc_main_on_prev;
 static bool acc_main_on_tx;
@@ -76,6 +79,7 @@ void hyundai_common_init(uint16_t param) {
   const uint16_t HYUNDAI_PARAM_NON_SCC = 4096;
   const uint16_t HYUNDAI_PARAM_CAN_CANFD_BLENDED = 8192;
   const uint16_t HYUNDAI_PARAM_CANCEL_BTN_ENABLE = 16384;
+  const uint16_t HYUNDAI_PARAM_CAN_REFRESH_MSGS = 32768;
 
   hyundai_ev_gas_signal = GET_FLAG(param, HYUNDAI_PARAM_EV_GAS);
   hyundai_hybrid_gas_signal = !hyundai_ev_gas_signal && GET_FLAG(param, HYUNDAI_PARAM_HYBRID_GAS);
@@ -90,6 +94,7 @@ void hyundai_common_init(uint16_t param) {
   hyundai_aol_lkas_on_engage = GET_FLAG(param, HYUNDAI_PARAM_AOL_LKAS_ON_ENGAGE);
   hyundai_non_scc = GET_FLAG(param, HYUNDAI_PARAM_NON_SCC);
   hyundai_cancel_button_enable = GET_FLAG(param, HYUNDAI_PARAM_CANCEL_BTN_ENABLE);
+  hyundai_can_refresh_msgs = GET_FLAG(param, HYUNDAI_PARAM_CAN_REFRESH_MSGS);
 
   hyundai_last_button_interaction = HYUNDAI_PREV_BUTTON_SAMPLES;
   acc_main_on_prev = false;
diff --git a/opendbc_repo/opendbc/safety/modes/tesla.h b/opendbc_repo/opendbc/safety/modes/tesla.h
index d563128ae..d5081653b 100644
--- a/opendbc_repo/opendbc/safety/modes/tesla.h
+++ b/opendbc_repo/opendbc/safety/modes/tesla.h
@@ -3,8 +3,11 @@
 #include "opendbc/safety/declarations.h"
 
 static bool tesla_longitudinal = false;
+static bool tesla_coop_steering = false;
 static bool tesla_stock_aeb = false;
 
+#define TESLA_STEERING_DISENGAGE_TORQUE 500  // cNm
+
 // Only rising edges while controls are not allowed are considered for these systems:
 // TODO: Only LKAS (non-emergency) is currently supported since we've only seen it
 static bool tesla_stock_lkas = false;
@@ -101,11 +104,14 @@ static void tesla_rx_hook(const CANPacket_t *msg) {
       update_sample(&angle_meas, angle_meas_new);
 
       const int hands_on_level = msg->data[4] >> 6;  // EPAS3S_handsOnLevel
+      const int torsion_bar_torque = (((msg->data[2] & 0x0FU) << 8) | msg->data[3]) - 2050;  // 0.01 Nm
       const int eac_status = msg->data[6] >> 5;  // EPAS3S_eacStatus
       const int eac_error_code = msg->data[2] >> 4;  // EPAS3S_eacErrorCode
 
       // Disengage on normal user override, or if high angle rate fault from user overriding extremely quickly
-      steering_disengage = (hands_on_level >= 3) || ((eac_status == 0) && (eac_error_code == 9));
+      steering_disengage = (hands_on_level >= 3) ||
+                           (tesla_coop_steering && (SAFETY_ABS(torsion_bar_torque) > TESLA_STEERING_DISENGAGE_TORQUE)) ||
+                           ((eac_status == 0) && (eac_error_code == 9));
     }
 
     // Vehicle speed (DI_speed)
@@ -333,7 +339,11 @@ static safety_config tesla_init(uint16_t param) {
   SAFETY_UNUSED(param);
 #ifdef ALLOW_DEBUG
   const uint16_t TESLA_FLAG_LONGITUDINAL_CONTROL = 1;
+  const uint16_t TESLA_FLAG_COOP_STEERING = 256;
   tesla_longitudinal = GET_FLAG(param, TESLA_FLAG_LONGITUDINAL_CONTROL);
+  tesla_coop_steering = GET_FLAG(param, TESLA_FLAG_COOP_STEERING);
+#else
+  tesla_coop_steering = false;
 #endif
 
   tesla_stock_aeb = false;
diff --git a/opendbc_repo/opendbc/safety/tests/common.py b/opendbc_repo/opendbc/safety/tests/common.py
index 1f26fe4a7..6e5157dd8 100644
--- a/opendbc_repo/opendbc/safety/tests/common.py
+++ b/opendbc_repo/opendbc/safety/tests/common.py
@@ -984,6 +984,7 @@ class SafetyTest(SafetyTestBase):
               continue
             if {attr, current_test}.issubset({'TestHyundaiLongitudinalSafety', 'TestHyundaiLongitudinalSafetyCameraSCC',
                                               'TestHyundaiSafetyFCEVLong', 'TestHyundaiLongitudinalAolLkasOnEngageSafety',
+                                              'TestHyundaiSafetyCanRefreshLong', 'TestHyundaiSafetyCanRefreshLongCameraSCC',
                                               'TestHyundaiCanCanfdBlendedLongitudinalSafety',
                                               'TestHyundaiLegacyLongitudinalSafetyHEV'}):
               continue
diff --git a/opendbc_repo/opendbc/safety/tests/test_hyundai.py b/opendbc_repo/opendbc/safety/tests/test_hyundai.py
index 7a7317f86..1b641a7b0 100755
--- a/opendbc_repo/opendbc/safety/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/safety/tests/test_hyundai.py
@@ -50,6 +50,7 @@ class TestHyundaiSafety(HyundaiButtonBase, common.CarSafetyTest, common.DriverTo
   STANDSTILL_THRESHOLD = 12  # 0.375 kph
   RELAY_MALFUNCTION_ADDRS = {0: (0x340, 0x485)}  # LKAS11
   FWD_BLACKLISTED_ADDRS = {2: [0x340, 0x485]}
+  LFAHDA_MFC_LEN = 4
 
   MAX_RATE_UP = 3
   MAX_RATE_DOWN = 7
@@ -116,6 +117,13 @@ class TestHyundaiSafety(HyundaiButtonBase, common.CarSafetyTest, common.DriverTo
     values = {"CR_Lkas_StrToqReq": torque, "CF_Lkas_ActToi": steer_req}
     return self.packer.make_can_msg_safety("LKAS11", 0, values)
 
+  def test_lfahda_mfc_tx_length(self):
+    self.safety.set_controls_allowed(1)
+    self.assertTrue(self._tx(common.make_msg(0, 0x485, self.LFAHDA_MFC_LEN)))
+
+    wrong_len = 8 if self.LFAHDA_MFC_LEN == 4 else 4
+    self.assertFalse(self._tx(common.make_msg(0, 0x485, wrong_len)))
+
   def test_pcm_main_cruise_state_availability(self):
     if self.safety.get_current_safety_param() & HyundaiSafetyFlags.LONG:
       raise unittest.SkipTest("Longitudinal mode does not learn ACC main state from SCC11 RX")
@@ -162,6 +170,16 @@ class TestHyundaiSafetyCameraSCC(TestHyundaiSafety):
     self.safety.init_tests()
 
 
+class TestHyundaiSafetyCanRefresh(TestHyundaiSafety):
+  LFAHDA_MFC_LEN = 8
+
+  def setUp(self):
+    self.packer = CANPackerSafety("hyundai_can_refresh_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.CAN_REFRESH_MSGS)
+    self.safety.init_tests()
+
+
 class TestHyundaiSafetyNonScc(TestHyundaiSafety):
   def setUp(self):
     self.packer = CANPackerSafety("hyundai_kia_generic")
@@ -211,6 +229,7 @@ class TestHyundaiCanCanfdBlendedSafety(TestHyundaiSafety):
   TX_MSGS = [[0x340, 0], [0x4F1, 0], [0x485, 0], [0x364, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x340, 0x485, 0x364)}
   FWD_BLACKLISTED_ADDRS = {2: [0x340, 0x485, 0x364]}
+  LFAHDA_MFC_LEN = 8
   MAX_RATE_UP = 2
   MAX_RATE_DOWN = 3
   MAX_TORQUE_LOOKUP = [0], [404]
@@ -408,6 +427,36 @@ class TestHyundaiLongitudinalSafetyCameraSCC(HyundaiLongitudinalBase, TestHyunda
     pass
 
 
+class TestHyundaiSafetyCanRefreshCameraSCC(TestHyundaiSafetyCameraSCC):
+  LFAHDA_MFC_LEN = 8
+
+  def setUp(self):
+    self.packer = CANPackerSafety("hyundai_can_refresh_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.CAMERA_SCC | HyundaiSafetyFlags.CAN_REFRESH_MSGS)
+    self.safety.init_tests()
+
+
+class TestHyundaiSafetyCanRefreshLong(TestHyundaiLongitudinalSafety):
+  LFAHDA_MFC_LEN = 8
+
+  def setUp(self):
+    self.packer = CANPackerSafety("hyundai_can_refresh_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.CAN_REFRESH_MSGS)
+    self.safety.init_tests()
+
+
+class TestHyundaiSafetyCanRefreshLongCameraSCC(TestHyundaiLongitudinalSafetyCameraSCC):
+  LFAHDA_MFC_LEN = 8
+
+  def setUp(self):
+    self.packer = CANPackerSafety("hyundai_can_refresh_generated")
+    self.safety = libsafety_py.libsafety
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundai, HyundaiSafetyFlags.LONG | HyundaiSafetyFlags.CAMERA_SCC | HyundaiSafetyFlags.CAN_REFRESH_MSGS)
+    self.safety.init_tests()
+
+
 class TestHyundaiSafetyFCEVLong(TestHyundaiLongitudinalSafety, TestHyundaiSafetyFCEV):
   def setUp(self):
     self.packer = CANPackerSafety("hyundai_kia_generic")
diff --git a/opendbc_repo/opendbc/safety/tests/test_tesla.py b/opendbc_repo/opendbc/safety/tests/test_tesla.py
index c367a7ece..f1c48da1d 100755
--- a/opendbc_repo/opendbc/safety/tests/test_tesla.py
+++ b/opendbc_repo/opendbc/safety/tests/test_tesla.py
@@ -4,7 +4,7 @@ import unittest
 import numpy as np
 
 from opendbc.car.lateral import get_max_angle_delta_vm, get_max_angle_vm
-from opendbc.car.tesla.values import CarControllerParams, TeslaSafetyFlags
+from opendbc.car.tesla.values import CarControllerParams, STEER_DISENGAGE_THRESHOLD, TeslaSafetyFlags
 from opendbc.car.tesla.carcontroller import get_safety_CP
 from opendbc.car.structs import CarParams
 from opendbc.car.vehicle_model import VehicleModel
@@ -78,8 +78,10 @@ class TestTeslaSafetyBase(common.CarSafetyTest, common.AngleSteeringSafetyTest,
       self.__class__.cnt_angle_cmd += 1
     return self.packer.make_can_msg_safety("DAS_steeringControl", bus, values)
 
-  def _angle_meas_msg(self, angle: float, hands_on_level: int = 0, eac_status: int = 1, eac_error_code: int = 0):
+  def _angle_meas_msg(self, angle: float, hands_on_level: int = 0, eac_status: int = 1, eac_error_code: int = 0,
+                      torsion_bar_torque: float = 0.0):
     values = {"EPAS3S_internalSAS": angle, "EPAS3S_handsOnLevel": hands_on_level,
+              "EPAS3S_torsionBarTorque": torsion_bar_torque,
               "EPAS3S_eacStatus": eac_status, "EPAS3S_eacErrorCode": eac_error_code,
               "EPAS3S_sysStatusCounter": self.cnt_epas % 16}
     self.__class__.cnt_epas += 1
@@ -378,6 +380,26 @@ class TestTeslaStockSafety(TestTeslaSafetyBase):
       self.assertFalse(self._tx(self._long_control_msg(0, acc_state=acc_state, accel_limits=(self.MIN_ACCEL, self.MAX_ACCEL))))
       self.assertEqual(should_tx, self._tx(self._long_control_msg(0, acc_state=acc_state)))
 
+  def test_cooperative_steering_torque_disengage_flag(self):
+    torque_cases = (
+      (-STEER_DISENGAGE_THRESHOLD - 0.01, True),
+      (-STEER_DISENGAGE_THRESHOLD, False),
+      (STEER_DISENGAGE_THRESHOLD, False),
+      (STEER_DISENGAGE_THRESHOLD + 0.01, True),
+    )
+
+    for param, cooperative_steering in ((0, False), (TeslaSafetyFlags.COOP_STEERING, True)):
+      self.safety.set_safety_hooks(CarParams.SafetyModel.tesla, param)
+      self.safety.init_tests()
+
+      for torsion_bar_torque, exceeds_threshold in torque_cases:
+        self.safety.set_controls_allowed(True)
+        should_disengage = cooperative_steering and exceeds_threshold
+
+        self.assertTrue(self._rx(self._angle_meas_msg(0, torsion_bar_torque=torsion_bar_torque)))
+        self.assertNotEqual(should_disengage, self.safety.get_controls_allowed())
+        self.assertEqual(should_disengage, self.safety.get_steering_disengage_prev())
+
   def test_no_aeb(self):
     for aeb_event in range(4):
       should_tx = aeb_event == 0
diff --git a/scripts/speed_limit_vision/mine_connect_route_bookmarks.py b/scripts/speed_limit_vision/mine_connect_route_bookmarks.py
index aa1a35b8c..b1362464f 100644
--- a/scripts/speed_limit_vision/mine_connect_route_bookmarks.py
+++ b/scripts/speed_limit_vision/mine_connect_route_bookmarks.py
@@ -73,16 +73,14 @@ def load_route_bookmarks(clip_root: Path, log_id: str) -> list[dict]:
   route_start_monotime = None
   raw_events: list[tuple[float, str]] = []
   for segment_dir in segment_dirs:
-    rlog_path = segment_dir / "rlog.zst"
-    if not rlog_path.exists():
-      rlog_path = segment_dir / "rlog.bz2"
-    if not rlog_path.exists():
+    log_path = next((segment_dir / name for name in ("rlog.zst", "rlog.bz2", "qlog.zst", "qlog.bz2") if (segment_dir / name).exists()), None)
+    if log_path is None:
       continue
 
     try:
-      events = list(log.Event.read_multiple_bytes(read_log_bytes(rlog_path)))
+      events = list(log.Event.read_multiple_bytes(read_log_bytes(log_path)))
     except Exception as exc:
-      print(f"{segment_dir.name}: skipping unreadable rlog {rlog_path.name}: {exc}")
+      print(f"{segment_dir.name}: skipping unreadable log {log_path.name}: {exc}")
       continue
     if not events:
       continue
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 062ee26b2..9c087bf7e 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -177,6 +177,9 @@ VISION_UNTRACKED_APPROACH_LIFT_TRIGGER_TIME = 20.0
 VISION_UNTRACKED_APPROACH_LIFT_FULL_TIME = 6.0
 VISION_UNTRACKED_APPROACH_LIFT_MAX_ACCEL = 0.22
 VISION_UNTRACKED_APPROACH_LIFT_CONFIRM_TIME = 0.30
+VISION_UNTRACKED_APPROACH_LIFT_HOLD_TIME = 0.75
+VISION_UNTRACKED_APPROACH_LIFT_RATE_DOWN = 0.35
+VISION_UNTRACKED_APPROACH_LIFT_RATE_UP = 0.25
 VISION_SLOW_LEAD_MAX_SPEED = 5.0
 VISION_SLOW_LEAD_MIN_CLOSING_SPEED = 1.5
 VISION_SLOW_LEAD_TRIGGER_TTC = 4.5
@@ -626,6 +629,9 @@ class LongitudinalPlanner:
     self.vision_lead_approach_confirm_t = 0.0
     self.untracked_slow_lead_confirm_t = 0.0
     self.untracked_vision_approach_lift_confirm_t = 0.0
+    self.untracked_vision_approach_lift_cap = None
+    self.untracked_vision_approach_lift_target = None
+    self.untracked_vision_approach_lift_hold_until = 0.0
     self.manual_stop_resume_override_until = 0.0
     self.lead_depart_accel_hold_until = 0.0
     self.lead_depart_accel_hold_floor = None
@@ -940,6 +946,45 @@ class LongitudinalPlanner:
       [0.0, VISION_UNTRACKED_APPROACH_LIFT_MAX_ACCEL],
     ))
 
+  def update_vision_untracked_approach_lift_cap(self, raw_cap, output_a_target, prev_output_a_target,
+                                                now_t, untracked):
+    if untracked and raw_cap is not None:
+      if self.untracked_vision_approach_lift_cap is None:
+        self.untracked_vision_approach_lift_confirm_t = min(
+          self.untracked_vision_approach_lift_confirm_t + self.dt,
+          VISION_UNTRACKED_APPROACH_LIFT_CONFIRM_TIME,
+        )
+        if self.untracked_vision_approach_lift_confirm_t >= VISION_UNTRACKED_APPROACH_LIFT_CONFIRM_TIME:
+          self.untracked_vision_approach_lift_cap = float(prev_output_a_target)
+      if self.untracked_vision_approach_lift_cap is not None:
+        self.untracked_vision_approach_lift_target = float(raw_cap)
+        self.untracked_vision_approach_lift_hold_until = now_t + VISION_UNTRACKED_APPROACH_LIFT_HOLD_TIME
+    elif self.untracked_vision_approach_lift_cap is None:
+      self.untracked_vision_approach_lift_confirm_t = 0.0
+
+    active_cap = self.untracked_vision_approach_lift_cap
+    if active_cap is None:
+      return None
+
+    holding = untracked and now_t < self.untracked_vision_approach_lift_hold_until
+    target = self.untracked_vision_approach_lift_target if holding else float(output_a_target)
+    if target is None:
+      target = float(output_a_target)
+
+    lower = active_cap - VISION_UNTRACKED_APPROACH_LIFT_RATE_DOWN * self.dt
+    upper = active_cap + VISION_UNTRACKED_APPROACH_LIFT_RATE_UP * self.dt
+    active_cap = float(np.clip(target, lower, upper))
+    self.untracked_vision_approach_lift_cap = active_cap
+
+    if not holding and active_cap >= float(output_a_target) - 1e-6:
+      self.untracked_vision_approach_lift_confirm_t = 0.0
+      self.untracked_vision_approach_lift_cap = None
+      self.untracked_vision_approach_lift_target = None
+      self.untracked_vision_approach_lift_hold_until = 0.0
+      return None
+
+    return active_cap
+
   def get_vision_slow_stopped_lead_cap(self, lead, v_ego, accel_min, t_follow):
     if lead is None or not lead.status or bool(getattr(lead, "radar", False)):
       return None
@@ -2606,11 +2651,8 @@ class LongitudinalPlanner:
       uncert_slope > UNCERT_SLOPE_TRIG or uncertainty >= UNCERT_MAG_TRIG
     )
 
-    prioritize_smooth_following = bool(getattr(starpilot_toggles, "prioritize_smooth_following", False))
-    allow_complex_follow_logic = not prioritize_smooth_following
-
     steady_follow_filter_floor = 0.0
-    if allow_complex_follow_logic and lead_one_active and desired_gap is not None and not panic_bypass:
+    if lead_one_active and desired_gap is not None and not panic_bypass:
       lead_brake = max(0.0, -float(getattr(self.lead_one, "aLeadK", 0.0)))
       lead_radar = bool(getattr(self.lead_one, "radar", False))
       lead_prob = float(getattr(self.lead_one, "modelProb", 1.0 if lead_radar else 0.0))
@@ -2671,7 +2713,7 @@ class LongitudinalPlanner:
     self.mpc.update(sm['radarState'], v_cruise, x, v, a, j,
                     sm['starpilotPlan'].dangerFactor, effective_t_follow,
                     personality=personality, tracking_lead=lead_control_active,
-                    optional_far_lead_comfort=allow_complex_follow_logic)
+                    optional_far_lead_comfort=True)
 
     self.a_desired_trajectory_full = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
@@ -2697,7 +2739,7 @@ class LongitudinalPlanner:
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
     # Anticipatory pre-brake to avoid "coming in hot" when closing on a lead
-    if allow_complex_follow_logic and lead_one_active:
+    if lead_one_active:
       rel_v = max(0.0, v_ego - self.lead_one.vLead)
       # dynamic time headway adds a small buffer when uncertainty is elevated
       base_th = max(1.6, effective_t_follow)
@@ -2748,6 +2790,7 @@ class LongitudinalPlanner:
     output_accel_min = comfort_output_accel_min
     model_desired_accel = float(sm['modelV2'].action.desiredAcceleration)
 
+    raw_approach_lift_cap = None
     if not tracking_lead:
       approach_lift_caps = [
         cap for cap in (
@@ -2756,16 +2799,7 @@ class LongitudinalPlanner:
         ) if cap is not None
       ]
       if approach_lift_caps:
-        self.untracked_vision_approach_lift_confirm_t = min(
-          self.untracked_vision_approach_lift_confirm_t + self.dt,
-          VISION_UNTRACKED_APPROACH_LIFT_CONFIRM_TIME,
-        )
-        if self.untracked_vision_approach_lift_confirm_t >= VISION_UNTRACKED_APPROACH_LIFT_CONFIRM_TIME:
-          approach_lift_cap = min(approach_lift_caps)
-          self.a_desired = min(self.a_desired, approach_lift_cap)
-          output_a_target = min(output_a_target, approach_lift_cap)
-      else:
-        self.untracked_vision_approach_lift_confirm_t = 0.0
+        raw_approach_lift_cap = min(approach_lift_caps)
 
       pretracking_vision_caps = []
       for lead in (self.lead_one, self.lead_two):
@@ -2798,9 +2832,19 @@ class LongitudinalPlanner:
       else:
         self.untracked_slow_lead_confirm_t = 0.0
     else:
-      self.untracked_vision_approach_lift_confirm_t = 0.0
       self.untracked_slow_lead_confirm_t = 0.0
 
+    approach_lift_cap = self.update_vision_untracked_approach_lift_cap(
+      raw_approach_lift_cap,
+      output_a_target,
+      prev_output_a_target,
+      now_t,
+      not tracking_lead,
+    )
+    if approach_lift_cap is not None:
+      self.a_desired = min(self.a_desired, approach_lift_cap)
+      output_a_target = min(output_a_target, approach_lift_cap)
+
     close_lead_caps = []
     tracked_vision_approach_caps = []
     vision_low_speed_stop_active = False
@@ -3077,7 +3121,7 @@ class LongitudinalPlanner:
       if close_final_guard_caps:
         close_final_guard_cap = min(close_final_guard_caps)
 
-    if allow_complex_follow_logic and lead_one_active:
+    if lead_one_active:
       lead_catchup_accel_cap = self.get_lead_catchup_accel_cap(
         self.lead_one,
         scene_v_ego,
@@ -3098,17 +3142,15 @@ class LongitudinalPlanner:
     if vision_brake_cap_active:
       output_accel_min = min(output_accel_min, vision_cap_accel_min)
 
-    follow_control_lead = None
-    if allow_complex_follow_logic:
-      follow_control_lead = self.get_follow_control_lead(
-        lead_control_active,
-        scene_v_ego,
-        effective_t_follow,
-        allow_optional_far_lead_logic=True,
-      )
-    duplicate_vision_comfort_lead = self.get_duplicate_vision_comfort_lead(scene_v_ego) if allow_complex_follow_logic else None
+    follow_control_lead = self.get_follow_control_lead(
+      lead_control_active,
+      scene_v_ego,
+      effective_t_follow,
+      allow_optional_far_lead_logic=True,
+    )
+    duplicate_vision_comfort_lead = self.get_duplicate_vision_comfort_lead(scene_v_ego)
     comfort_follow_lead = duplicate_vision_comfort_lead if duplicate_vision_comfort_lead is not None and follow_control_lead is not None else follow_control_lead
-    if allow_complex_follow_logic and follow_control_lead is not None and not panic_bypass:
+    if follow_control_lead is not None and not panic_bypass:
       if not output_should_stop and not vision_low_speed_stop_active:
         tracked_vision_model_brake_floor = self.get_tracked_vision_model_brake_floor(
           follow_control_lead,
@@ -3121,11 +3163,10 @@ class LongitudinalPlanner:
           self.a_desired = min(self.a_desired, tracked_vision_model_brake_floor)
           output_a_target = min(output_a_target, tracked_vision_model_brake_floor)
 
-      if allow_complex_follow_logic:
-        matched_follow_brake_cap = self.get_matched_follow_brake_cap(follow_control_lead, scene_v_ego, effective_t_follow)
-        if matched_follow_brake_cap is not None:
-          self.a_desired = max(self.a_desired, matched_follow_brake_cap)
-          output_a_target = max(output_a_target, matched_follow_brake_cap)
+      matched_follow_brake_cap = self.get_matched_follow_brake_cap(follow_control_lead, scene_v_ego, effective_t_follow)
+      if matched_follow_brake_cap is not None:
+        self.a_desired = max(self.a_desired, matched_follow_brake_cap)
+        output_a_target = max(output_a_target, matched_follow_brake_cap)
 
       if not close_lead_caps and not output_should_stop and not vision_low_speed_stop_active:
         low_speed_transition_brake_cap = self.get_low_speed_follow_transition_brake_cap(
@@ -3142,13 +3183,13 @@ class LongitudinalPlanner:
     comfort_lead = duplicate_vision_comfort_lead if duplicate_vision_comfort_lead is not None else (
       self.lead_two if self.mpc.source == 'lead1' and self.lead_two.status else self.lead_one
     )
-    if allow_complex_follow_logic and comfort_lead is not None and not panic_bypass:
+    if comfort_lead is not None and not panic_bypass:
       far_lead_brake_cap = self.get_far_lead_brake_cap(comfort_lead, scene_v_ego, effective_t_follow)
       if far_lead_brake_cap is not None:
         self.a_desired = max(self.a_desired, far_lead_brake_cap)
         output_a_target = max(output_a_target, far_lead_brake_cap)
 
-    if allow_complex_follow_logic and follow_control_lead is not None and not panic_bypass and not output_should_stop and not vision_low_speed_stop_active:
+    if follow_control_lead is not None and not panic_bypass and not output_should_stop and not vision_low_speed_stop_active:
       tracked_vision_model_brake_cap = self.get_tracked_vision_model_brake_cap(
         follow_control_lead,
         scene_v_ego,
@@ -3159,7 +3200,7 @@ class LongitudinalPlanner:
         self.a_desired = max(self.a_desired, tracked_vision_model_brake_cap)
         output_a_target = max(output_a_target, tracked_vision_model_brake_cap)
 
-    if allow_complex_follow_logic and comfort_follow_lead is not None and not panic_bypass and not output_should_stop and not vision_low_speed_stop_active:
+    if comfort_follow_lead is not None and not panic_bypass and not output_should_stop and not vision_low_speed_stop_active:
       matched_follow_transition_target = self.get_matched_follow_transition_target(
         comfort_follow_lead,
         scene_v_ego,
@@ -3176,7 +3217,7 @@ class LongitudinalPlanner:
           self.a_desired = max(self.a_desired, matched_follow_transition_target)
         output_a_target = matched_follow_transition_target
 
-    if allow_complex_follow_logic and comfort_lead is not None and not panic_bypass and not output_should_stop and not vision_low_speed_stop_active:
+    if comfort_lead is not None and not panic_bypass and not output_should_stop and not vision_low_speed_stop_active:
       near_duplicate_transition_target = self.get_near_duplicate_lead_transition_target(
         comfort_lead,
         scene_v_ego,
@@ -3209,7 +3250,7 @@ class LongitudinalPlanner:
           self.a_desired = max(self.a_desired, duplicate_slow_lead_brake_hold_target)
         output_a_target = duplicate_slow_lead_brake_hold_target
 
-    if allow_complex_follow_logic and comfort_follow_lead is not None and not panic_bypass and not output_should_stop and not vision_low_speed_stop_active:
+    if comfort_follow_lead is not None and not panic_bypass and not output_should_stop and not vision_low_speed_stop_active:
       cruise_tracking_lead_accel_cap = self.get_cruise_tracking_lead_accel_cap(
         comfort_follow_lead,
         scene_v_ego,
diff --git a/selfdrive/controls/tests/test_longitudinal_planner.py b/selfdrive/controls/tests/test_longitudinal_planner.py
index cec5a3399..edfe35c31 100644
--- a/selfdrive/controls/tests/test_longitudinal_planner.py
+++ b/selfdrive/controls/tests/test_longitudinal_planner.py
@@ -122,7 +122,7 @@ def make_sm(v_ego: float, desired_accel: float, min_accel: float, *, experimenta
   }
 
 
-def make_toggles(model_version: str = "v11", radar_takeoffs: bool = False, prioritize_smooth_following: bool = False):
+def make_toggles(model_version: str = "v11", radar_takeoffs: bool = False):
   return SimpleNamespace(
     taco_tune=False,
     classic_model=False,
@@ -131,7 +131,6 @@ def make_toggles(model_version: str = "v11", radar_takeoffs: bool = False, prior
     stop_distance=6.0,
     vEgoStopping=0.5,
     radar_takeoffs=radar_takeoffs,
-    prioritize_smooth_following=prioritize_smooth_following,
   )
 
 
@@ -410,6 +409,41 @@ def test_vision_untracked_approach_lift_ignores_unqualified_leads(lead):
   assert planner.get_vision_untracked_approach_lift_cap(lead, v_ego, 1.4) is None
 
 
+def test_vision_untracked_approach_lift_is_rate_limited_and_held():
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=25.0, init_a=0.5)
+  now = 0.0
+
+  cap = None
+  for _ in range(6):
+    now += planner.dt
+    cap = planner.update_vision_untracked_approach_lift_cap(0.0, 0.5, 0.5, now, True)
+
+  assert cap is not None
+  assert 0.45 < cap < 0.5
+
+  held_cap = planner.update_vision_untracked_approach_lift_cap(None, 0.5, 0.5, now + planner.dt, True)
+  assert held_cap is not None
+  assert held_cap < cap
+
+
+def test_vision_untracked_approach_lift_releases_after_hold_or_tracking():
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=25.0, init_a=0.5)
+  now = 0.0
+
+  for _ in range(6):
+    now += planner.dt
+    planner.update_vision_untracked_approach_lift_cap(0.0, 0.5, 0.5, now, True)
+
+  previous_cap = planner.untracked_vision_approach_lift_cap
+  now += planner.dt
+  releasing_cap = planner.update_vision_untracked_approach_lift_cap(None, 0.5, 0.5, now, False)
+
+  assert releasing_cap is not None
+  assert releasing_cap > previous_cap
+
+
 def test_far_opening_radar_brake_guard_removes_only_harmless_pulse():
   v_ego = 28.9
   CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
@@ -3193,44 +3227,39 @@ def test_mild_follow_zero_cross_guard_skips_urgent_close_follow():
   assert guarded is None
 
 
-def test_prioritize_smooth_following_skips_post_097_follow_nudges():
+def test_post_097_follow_logic_is_always_active():
   v_ego = 16.2
   CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
   lead = make_lead(status=True, d_rel=33.4, v_lead=16.0, a_lead=0.0, radar=False, model_prob=0.99, y_rel=0.12)
 
-  def run_once(prioritize_smooth_following: bool) -> list[str]:
-    planner = LongitudinalPlanner(CP, init_v=v_ego)
-    sm = make_sm(
-      v_ego,
-      desired_accel=0.8,
-      min_accel=-0.5,
-      experimental_mode=False,
-      tracking_lead=True,
-      lead_one=lead,
-    )
-    sm["starpilotPlan"].vCruise = v_ego + 8.0
+  planner = LongitudinalPlanner(CP, init_v=v_ego)
+  sm = make_sm(
+    v_ego,
+    desired_accel=0.8,
+    min_accel=-0.5,
+    experimental_mode=False,
+    tracking_lead=True,
+    lead_one=lead,
+  )
+  sm["starpilotPlan"].vCruise = v_ego + 8.0
 
-    calls = []
+  calls = []
 
-    def record(name, return_value=None):
-      def _inner(self, *args, **kwargs):
-        calls.append(name)
-        return return_value
-      return types.MethodType(_inner, planner)
+  def record(name, return_value=None):
+    def _inner(self, *args, **kwargs):
+      calls.append(name)
+      return return_value
+    return types.MethodType(_inner, planner)
 
-    planner.get_follow_control_lead = record("get_follow_control_lead", lead)
-    planner.get_lead_catchup_accel_cap = record("get_lead_catchup_accel_cap", None)
-    planner.get_tracked_vision_model_brake_floor = record("get_tracked_vision_model_brake_floor", None)
-    planner.get_low_speed_follow_transition_brake_cap = record("get_low_speed_follow_transition_brake_cap", None)
-    planner.get_tracked_vision_model_brake_cap = record("get_tracked_vision_model_brake_cap", None)
-    planner.get_cruise_tracking_lead_accel_cap = record("get_cruise_tracking_lead_accel_cap", None)
-    planner.get_cruise_tracking_lead_accel_transition_target = record("get_cruise_tracking_lead_accel_transition_target", None)
+  planner.get_follow_control_lead = record("get_follow_control_lead", lead)
+  planner.get_lead_catchup_accel_cap = record("get_lead_catchup_accel_cap", None)
+  planner.get_tracked_vision_model_brake_floor = record("get_tracked_vision_model_brake_floor", None)
+  planner.get_low_speed_follow_transition_brake_cap = record("get_low_speed_follow_transition_brake_cap", None)
+  planner.get_tracked_vision_model_brake_cap = record("get_tracked_vision_model_brake_cap", None)
+  planner.get_cruise_tracking_lead_accel_cap = record("get_cruise_tracking_lead_accel_cap", None)
+  planner.get_cruise_tracking_lead_accel_transition_target = record("get_cruise_tracking_lead_accel_transition_target", None)
 
-    planner.update(sm, make_toggles(prioritize_smooth_following=prioritize_smooth_following))
-    return calls
-
-  calls_default = run_once(False)
-  calls_smooth = run_once(True)
+  planner.update(sm, make_toggles())
 
   expected_calls = {
     "get_lead_catchup_accel_cap",
@@ -3242,8 +3271,7 @@ def test_prioritize_smooth_following_skips_post_097_follow_nudges():
     "get_cruise_tracking_lead_accel_transition_target",
   }
 
-  assert expected_calls.issubset(set(calls_default))
-  assert not expected_calls.intersection(set(calls_smooth))
+  assert expected_calls.issubset(set(calls))
 
 
 def test_near_duplicate_lead_source_hysteresis_prefers_previous_source():
diff --git a/selfdrive/controls/tests/test_starpilot_planner.py b/selfdrive/controls/tests/test_starpilot_planner.py
index 080cf4ab2..bd3ea806c 100644
--- a/selfdrive/controls/tests/test_starpilot_planner.py
+++ b/selfdrive/controls/tests/test_starpilot_planner.py
@@ -119,7 +119,7 @@ def test_lateral_resume_delay_ignores_signal_cycles_that_never_slow_enough(monke
     planner.shutdown()
 
 
-def test_prioritize_smooth_following_skips_radarless_follow_hold(monkeypatch):
+def test_radarless_follow_hold_applies_to_tracked_vision_lead(monkeypatch):
   planner = StarPilotPlanner(Path("/tmp/nonexistent"), DummyThemeManager())
 
   try:
@@ -136,28 +136,10 @@ def test_prioritize_smooth_following_skips_radarless_follow_hold(monkeypatch):
       radar=False,
     )
 
-    planner.update_lead_status(27.5, stop_distance=6.0, prioritize_smooth_following=False)
+    planner.update_lead_status(27.5, stop_distance=6.0)
     assert planner.radarless_follow_hold_until > 100.0
-
-    planner_smooth = StarPilotPlanner(Path("/tmp/nonexistent"), DummyThemeManager())
-    planner_smooth.model_length = 30.0
-    planner_smooth.tracking_lead = True
-    planner_smooth.starpilot_following.t_follow = 1.45
-    planner_smooth.lead_one = SimpleNamespace(
-      status=True,
-      dRel=46.0,
-      vLead=27.0,
-      aLeadK=0.0,
-      modelProb=0.98,
-      radar=False,
-    )
-
-    planner_smooth.update_lead_status(27.5, stop_distance=6.0, prioritize_smooth_following=True)
-    assert planner_smooth.radarless_follow_hold_until == 0.0
   finally:
     planner.shutdown()
-    if 'planner_smooth' in locals():
-      planner_smooth.shutdown()
 
 
 def test_tracked_vision_lead_uses_exit_hysteresis_at_mid_speed():
@@ -177,8 +159,7 @@ def test_tracked_vision_lead_uses_exit_hysteresis_at_mid_speed():
       radar=False,
     )
 
-    assert planner.update_lead_status(16.8, stop_distance=6.0, prioritize_smooth_following=False)
-    assert planner.update_lead_status(16.8, stop_distance=6.0, prioritize_smooth_following=True)
+    assert planner.update_lead_status(16.8, stop_distance=6.0)
   finally:
     planner.shutdown()
 
@@ -198,6 +179,6 @@ def test_untracked_vision_lead_still_uses_strict_entry_gate():
       radar=False,
     )
 
-    assert not planner.update_lead_status(16.8, stop_distance=6.0, prioritize_smooth_following=False)
+    assert not planner.update_lead_status(16.8, stop_distance=6.0)
   finally:
     planner.shutdown()
diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
index aad59d1ff..cafcee8e1 100755
--- a/selfdrive/locationd/lagd.py
+++ b/selfdrive/locationd/lagd.py
@@ -26,7 +26,7 @@ MIN_VEGO = 15.0
 MIN_ABS_YAW_RATE = 0.0
 MAX_YAW_RATE_SANITY_CHECK = 1.0
 MIN_NCC = 0.95
-MAX_LAG = 1.0
+MAX_LAG = 0.65
 MAX_LAG_STD = 0.1
 MAX_LAT_ACCEL = 2.0
 MAX_LAT_ACCEL_DIFF = 0.6
diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py
index c44019ec5..f36a5c0e5 100644
--- a/selfdrive/locationd/test/test_lagd.py
+++ b/selfdrive/locationd/test/test_lagd.py
@@ -7,7 +7,7 @@ import pytest
 
 from cereal import messaging, log, car
 from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
-                                               BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC
+                                               BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC, MAX_LAG
 from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
 from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
 from openpilot.common.params import Params
@@ -16,6 +16,7 @@ from openpilot.system.hardware import PC
 
 MAX_ERR_FRAMES = 1
 DT = 0.05
+LAGD_MAX_LAG_FRAMES = int(round(MAX_LAG / DT))
 
 
 def process_messages(estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0):
@@ -101,8 +102,9 @@ class TestLagd:
     assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
 
   def test_empty_estimator(self):
-    mocked_CP = car.CarParams(steerActuatorDelay=0.8)
+    mocked_CP = car.CarParams(steerActuatorDelay=0.5)
     estimator = LateralLagEstimator(mocked_CP, DT)
+    estimator.starpilot_toggles = SimpleNamespace(use_custom_steerActuatorDelay=False)
     msg = estimator.get_msg(True)
     assert msg.liveDelay.status == 'unestimated'
     assert np.allclose(msg.liveDelay.lateralDelay, estimator.initial_lag)
@@ -111,10 +113,11 @@ class TestLagd:
     assert msg.liveDelay.calPerc == 0
 
   def test_estimator_basics(self, subtests):
-    for lag_frames in range(5):
+    for lag_frames in range(LAGD_MAX_LAG_FRAMES - 1):
       with subtests.test(msg=f"lag_frames={lag_frames}"):
-        mocked_CP = car.CarParams(steerActuatorDelay=0.8)
+        mocked_CP = car.CarParams(steerActuatorDelay=0.5)
         estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0)
+        estimator.starpilot_toggles = SimpleNamespace(use_custom_steerActuatorDelay=False)
         process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
         msg = estimator.get_msg(True)
         assert msg.liveDelay.status == 'estimated'
@@ -125,8 +128,10 @@ class TestLagd:
         assert msg.liveDelay.calPerc == 100
 
   def test_estimator_masking(self):
-    mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(1, 19)
+    mocked_CP = car.CarParams(steerActuatorDelay=0.5)
+    lag_frames = random.randint(1, LAGD_MAX_LAG_FRAMES - 1)
     estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
+    estimator.starpilot_toggles = SimpleNamespace(use_custom_steerActuatorDelay=False)
     process_messages(estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
     msg = estimator.get_msg(True)
     assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
@@ -136,7 +141,7 @@ class TestLagd:
   @pytest.mark.skipif(PC, reason="only on device")
   @pytest.mark.timeout(60)
   def test_estimator_performance(self):
-    mocked_CP = car.CarParams(steerActuatorDelay=0.8)
+    mocked_CP = car.CarParams(steerActuatorDelay=0.5)
     estimator = LateralLagEstimator(mocked_CP, DT)
 
     ds = []
diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py
index 342a3d337..2d1e8e5b2 100644
--- a/selfdrive/test/longitudinal_maneuvers/maneuver.py
+++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py
@@ -25,7 +25,6 @@ class Maneuver:
     self.e2e = kwargs.get("e2e", False)
     self.personality = kwargs.get("personality", 0)
     self.force_decel = kwargs.get("force_decel", False)
-    self.prioritize_smooth_following = kwargs.get("prioritize_smooth_following", False)
 
     self.duration = duration
     self.title = title
@@ -42,7 +41,6 @@ class Maneuver:
       e2e=self.e2e,
       personality=self.personality,
       force_decel=self.force_decel,
-      prioritize_smooth_following=self.prioritize_smooth_following,
     )
 
     valid = True
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index efa118788..8f1bcebe1 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -56,8 +56,7 @@ class Plant:
 
   def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0,
                enabled=True, only_lead2=False, only_radar=False, track_lead_with_gate=False,
-               e2e=False, personality=0, force_decel=False,
-               prioritize_smooth_following=False):
+               e2e=False, personality=0, force_decel=False):
     self.rate = 1. / DT_MDL
 
     current_prefix = os.environ.get("OPENPILOT_PREFIX")
@@ -92,7 +91,6 @@ class Plant:
     self.e2e = e2e
     self.personality = personality
     self.force_decel = force_decel
-    self.prioritize_smooth_following = prioritize_smooth_following
     self.tracking_lead_filter = FirstOrderFilter(0.0, 0.5, DT_MDL)
 
     self.rk = Ratekeeper(self.rate, print_delay_threshold=100.0)
@@ -113,7 +111,6 @@ class Plant:
       stop_distance=6.0,
       longitudinalActuatorDelay=0.2,
       vEgoStopping=0.5,
-      prioritize_smooth_following=self.prioritize_smooth_following,
     )
 
   @property
diff --git a/selfdrive/ui/layouts/settings/starpilot/longitudinal.py b/selfdrive/ui/layouts/settings/starpilot/longitudinal.py
index 24e02f140..46b246044 100644
--- a/selfdrive/ui/layouts/settings/starpilot/longitudinal.py
+++ b/selfdrive/ui/layouts/settings/starpilot/longitudinal.py
@@ -138,7 +138,7 @@ class LongitudinalManagerView(AetherSettingsView):
     hero_data = [
       {
         "title": tr("Longitudinal Tuning"),
-        "desc": tr("Configure acceleration profiles, smooth following, lane changes, and route speed control."),
+        "desc": tr("Configure acceleration profiles, lane changes, and route speed control."),
         "icon": "steering",
         "color": "#8B5CF6",
         "on_click": lambda: self._controller._navigate_to("tune")
@@ -619,11 +619,6 @@ class StarPilotLongitudinalLayout(_SettingsPage):
                  get_value=self._get_deceleration_profile_label,
                  on_click=self._show_deceleration_profile_selector,
                  visible=self._longitudinal_enabled),
-      SettingRow("PrioritizeSmoothFollowing", "toggle", tr_noop("Prioritize Smooth Following"),
-                 subtitle=tr_noop("Disables the newer far-lead follow logic on cars that show lead-follow stutter. Tradeoff: it may react later in some edge-case lead approaches."),
-                 get_state=lambda: self._params.get_bool("PrioritizeSmoothFollowing"),
-                 set_state=lambda s: self._params.put_bool("PrioritizeSmoothFollowing", s),
-                 visible=self._longitudinal_enabled),
       SettingRow("HumanLaneChanges", "toggle", tr_noop("Human-Like Lane Changes"),
                  subtitle=tr_noop("Radar-informed behavior during lane changes."),
                  get_state=lambda: self._params.get_bool("HumanLaneChanges"),
@@ -958,7 +953,7 @@ class StarPilotLongitudinalLayout(_SettingsPage):
       self,
       [SettingSection(title="", rows=self._tune_rows)],
       header_title=tr_noop("Longitudinal Tuning"),
-      header_subtitle=tr_noop("Configure acceleration profiles, smooth following, lane changes, and route speed control."),
+      header_subtitle=tr_noop("Configure acceleration profiles, lane changes, and route speed control."),
       parent_toggle=pt_tune,
       panel_style=PANEL_STYLE,
     )
diff --git a/selfdrive/ui/ui b/selfdrive/ui/ui
index 70c847204..eba89f3ca 100755
Binary files a/selfdrive/ui/ui and b/selfdrive/ui/ui differ
diff --git a/starpilot/common/safe_mode.py b/starpilot/common/safe_mode.py
index 0ab8b8912..20e00397b 100644
--- a/starpilot/common/safe_mode.py
+++ b/starpilot/common/safe_mode.py
@@ -73,7 +73,6 @@ SAFE_MODE_MANAGED_KEYS = (
   "AccelerationProfile",
   "DecelerationProfile",
   "HumanAcceleration",
-  "PrioritizeSmoothFollowing",
   "HumanLaneChanges",
   "LeadDetectionThreshold",
   "RecoveryPower",
diff --git a/starpilot/common/starpilot_variables.py b/starpilot/common/starpilot_variables.py
index 02b61d2bc..bbbb35ecf 100644
--- a/starpilot/common/starpilot_variables.py
+++ b/starpilot/common/starpilot_variables.py
@@ -20,6 +20,7 @@ from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR, EV_CAR as HYUNDAI_EV_
 from opendbc.car.interfaces import TORQUE_SUBSTITUTE_PATH, CarInterfaceBase, GearShifter
 from opendbc.car.mock.values import CAR as MOCK
 from opendbc.car.subaru.values import SubaruFlags
+from opendbc.car.tesla.values import CAR as TESLA_CAR
 from opendbc.car.toyota.values import CAR as TOYOTA_CAR, ToyotaStarPilotFlags
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.constants import CV
@@ -585,6 +586,8 @@ class StarPilotVariables:
   def update(self, holiday_theme="stock", started=False):
     toggle = self.starpilot_toggles
     toggle.tuning_level = self.params.get("TuningLevel") if self.params.get_bool("TuningLevelConfirmed") else TUNING_LEVELS["ADVANCED"]
+    # CarParams uses this value to select the matching Panda safety configuration.
+    toggle.tesla_cooperative_steering = self.params.get_bool("TeslaCoopSteering")
 
     fallback_platform = GM_CAR.CHEVROLET_BOLT_ACC_2022_2023 if HARDWARE.get_device_type() == "pc" else MOCK.MOCK
 
@@ -1170,13 +1173,6 @@ class StarPilotVariables:
     else:
       toggle.custom_accel_profile_values = [custom_accel_defaults[key] for key in CUSTOM_ACCEL_PROFILE_PARAM_KEYS]
     toggle.human_acceleration = self.get_value("HumanAcceleration", condition=longitudinal_tuning)
-    toggle.prioritize_smooth_following = self.get_value("PrioritizeSmoothFollowing", condition=longitudinal_tuning)
-    if longitudinal_tuning and self.params_raw.get("PrioritizeSmoothFollowing") is None:
-      legacy_coast_value = self.params_raw.get("CoastUpToLeads")
-      if legacy_coast_value is not None:
-        toggle.prioritize_smooth_following = not self.params_raw.get_bool("CoastUpToLeads")
-      else:
-        toggle.prioritize_smooth_following = False
     toggle.human_lane_changes = has_radar and self.get_value("HumanLaneChanges", condition=longitudinal_tuning)
     toggle.nav_longitudinal_allowed = toggle.openpilot_longitudinal and self.get_value("NavLongitudinalAllowed", condition=longitudinal_tuning)
     # Keep lead detection sensitivity normalized even when longitudinal tuning is disabled.
@@ -1414,6 +1410,11 @@ class StarPilotVariables:
     toggle.subaru_sng = self.get_value("SubaruSNG", condition=toggle.car_make == "subaru" and not (CP.flags & SubaruFlags.GLOBAL_GEN2 or CP.flags & SubaruFlags.HYBRID))
     toggle.subaru_sng_manual_parking_brake = self.get_value("SubaruSNGManualParkingBrake", condition=toggle.subaru_sng)
 
+    toggle.tesla_cooperative_steering = self.get_value(
+      "TeslaCoopSteering",
+      condition=toggle.car_make == "tesla" and toggle.car_model == TESLA_CAR.TESLA_MODEL_3,
+    )
+
     toggle.tethering_config = self.get_value("TetheringEnabled", cast=float)
 
     toyota_doors = self.get_value("ToyotaDoors", condition=toggle.car_make == "toyota")
diff --git a/starpilot/controls/lib/starpilot_following.py b/starpilot/controls/lib/starpilot_following.py
index 5e229f2cd..df1eca5f3 100644
--- a/starpilot/controls/lib/starpilot_following.py
+++ b/starpilot/controls/lib/starpilot_following.py
@@ -84,9 +84,8 @@ class StarPilotFollowing:
     if self.starpilot_planner.starpilot_weather.weather_id != 0:
       self.t_follow = min(self.t_follow + self.starpilot_planner.starpilot_weather.increase_following_distance, MAX_T_FOLLOW)
 
-    prioritize_smooth_following = bool(getattr(starpilot_toggles, "prioritize_smooth_following", False))
     self.disable_throttle = False
-    if not prioritize_smooth_following and self.starpilot_planner.tracking_lead and self.starpilot_planner.lead_one.status:
+    if self.starpilot_planner.tracking_lead and self.starpilot_planner.lead_one.status:
       lead_distance = self.starpilot_planner.lead_one.dRel
       v_lead = self.starpilot_planner.lead_one.vLead
       closing_speed = max(0.0, v_ego - v_lead)
diff --git a/starpilot/controls/starpilot_planner.py b/starpilot/controls/starpilot_planner.py
index 8f4ce0096..db48cfa30 100644
--- a/starpilot/controls/starpilot_planner.py
+++ b/starpilot/controls/starpilot_planner.py
@@ -204,11 +204,7 @@ class StarPilotPlanner:
     self.road_curvature_detected = (1 / abs(self.road_curvature))**0.5 < v_ego > CRUISING_SPEED and not (sm["carState"].leftBlinker or sm["carState"].rightBlinker)
 
     if not sm["carState"].standstill:
-      self.tracking_lead = self.update_lead_status(
-        v_ego,
-        starpilot_toggles.stop_distance,
-        prioritize_smooth_following=bool(getattr(starpilot_toggles, "prioritize_smooth_following", False)),
-      )
+      self.tracking_lead = self.update_lead_status(v_ego, starpilot_toggles.stop_distance)
 
     self.starpilot_following.update(controls_enabled, v_ego, sm, starpilot_toggles)
 
@@ -235,7 +231,7 @@ class StarPilotPlanner:
     else:
       self.starpilot_weather.weather_id = 0
 
-  def update_lead_status(self, v_ego, stop_distance=STOP_DISTANCE, prioritize_smooth_following=False):
+  def update_lead_status(self, v_ego, stop_distance=STOP_DISTANCE):
     following_lead = should_track_lead(
       self.lead_one.status,
       self.lead_one.dRel,
@@ -270,12 +266,12 @@ class StarPilotPlanner:
       lead_brake=max(0.0, -float(getattr(self.lead_one, "aLeadK", 0.0))),
       lead_prob=float(getattr(self.lead_one, "modelProb", 0.0)),
     )
-    if not prioritize_smooth_following and matched_follow_window and (following_lead or self.tracking_lead or self.tracking_lead_filter.x >= THRESHOLD * 0.6):
+    if matched_follow_window and (following_lead or self.tracking_lead or self.tracking_lead_filter.x >= THRESHOLD * 0.6):
       self.radarless_follow_hold_until = now_t + RADARLESS_TRACK_HOLD_TIME
-    elif prioritize_smooth_following or lead_radar or not self.lead_one.status:
+    elif lead_radar or not self.lead_one.status:
       self.radarless_follow_hold_until = 0.0
 
-    if not prioritize_smooth_following and not following_lead and matched_follow_window and now_t < self.radarless_follow_hold_until:
+    if not following_lead and matched_follow_window and now_t < self.radarless_follow_hold_until:
       following_lead = True
 
     self.tracking_lead_filter.update(following_lead)
diff --git a/starpilot/system/the_galaxy/assets/components/tools/device_settings_layout.json b/starpilot/system/the_galaxy/assets/components/tools/device_settings_layout.json
index 1f049cb38..a37203559 100644
--- a/starpilot/system/the_galaxy/assets/components/tools/device_settings_layout.json
+++ b/starpilot/system/the_galaxy/assets/components/tools/device_settings_layout.json
@@ -1031,14 +1031,6 @@
         "ui_type": "toggle",
         "parent_key": "LongitudinalTune"
       },
-      {
-        "key": "PrioritizeSmoothFollowing",
-        "label": "Prioritize Smooth Following",
-        "description": "Disable the newer far-lead follow logic on cars that show lead-follow stutter or springy gas/brake behavior. Tradeoff: the car may react later and brake less proactively in some edge-case lead approaches.",
-        "data_type": "bool",
-        "ui_type": "toggle",
-        "parent_key": "LongitudinalTune"
-      },
       {
         "key": "HumanLaneChanges",
         "label": "Human-Like Lane Changes",
@@ -2417,6 +2409,13 @@
         "data_type": "bool",
         "ui_type": "toggle"
       },
+      {
+        "key": "TeslaCoopSteering",
+        "label": "Tesla Model 3 Cooperative Steering",
+        "description": "For Tesla Model 3 only. Converts light driver steering input into bounded steering-wheel rotation while lateral control remains active. Change while parked.",
+        "data_type": "bool",
+        "ui_type": "toggle"
+      },
       {
         "key": "NAPRadarEnabled",
         "label": "Tesla Pre-AP Bosch Radar",
diff --git a/starpilot/ui/qt/offroad/longitudinal_settings.cc b/starpilot/ui/qt/offroad/longitudinal_settings.cc
index 44f9bd679..ce35a9917 100644
--- a/starpilot/ui/qt/offroad/longitudinal_settings.cc
+++ b/starpilot/ui/qt/offroad/longitudinal_settings.cc
@@ -158,7 +158,6 @@ StarPilotLongitudinalPanel::StarPilotLongitudinalPanel(StarPilotSettingsWindow *
     {"AccelerationProfile", tr("Acceleration Profile"), tr("<b>How quickly openpilot speeds up.</b> \"Eco\" is gentle and efficient, \"Sport\" is firmer and more responsive, and \"Sport+\" accelerates at the maximum rate allowed."), ""},
     {"DecelerationProfile", tr("Deceleration Profile"), tr("<b>How firmly openpilot slows down.</b> \"Eco\" favors coasting, \"Sport\" applies stronger braking."), ""},
     {"HumanAcceleration", tr("Human-Like Acceleration"), tr("<b>Acceleration that mimics human behavior</b> by easing the throttle at low speeds and adding extra power when taking off from a stop."), ""},
-    {"PrioritizeSmoothFollowing", tr("Prioritize Smooth Following"), tr("<b>Disable the newer far-lead follow logic that can cause springy gas/brake behavior on some cars.</b> Enable this if your vehicle shows lead-follow stutter or oscillation.<br><br><i>Tradeoff: the car may react later and brake less proactively in some edge-case lead approaches.</i>"), ""},
     {"HumanLaneChanges", tr("Human-Like Lane Changes"), tr("<b>Lane-change behavior that mimics human drivers</b> by anticipating and tracking adjacent vehicles during lane changes."), ""},
     {"LeadDetectionThreshold", tr("Lead Detection Sensitivity"), tr("<b>How sensitive openpilot is to detecting vehicles.</b> Higher sensitivity allows quicker detection at longer distances but may react to non-vehicle objects; lower sensitivity is more conservative and reduces false detections."), ""},
     {"TacoTune", tr("\"Taco Bell Run\" Turn Speed Hack"), tr("<b>The turn-speed hack from comma's 2022 \"Taco Bell Run\".</b> Designed to slow down for left and right turns."), ""},
diff --git a/starpilot/ui/qt/offroad/longitudinal_settings.h b/starpilot/ui/qt/offroad/longitudinal_settings.h
index fd2ed78da..22431ee60 100644
--- a/starpilot/ui/qt/offroad/longitudinal_settings.h
+++ b/starpilot/ui/qt/offroad/longitudinal_settings.h
@@ -34,7 +34,7 @@ private:
   QSet<QString> conditionalExperimentalKeys = {"PersistExperimentalState", "CESpeed", "CESpeedLead", "CECurves", "CELead", "CEModelStopTime", "CESignalSpeed", "CEStopLights", "ShowCEMStatus"};
   QSet<QString> curveSpeedKeys = {"CalibratedLateralAcceleration", "CalibrationProgress", "ResetCurveData", "ShowCSCStatus"};
   QSet<QString> customDrivingPersonalityKeys = {"AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile", "TrafficPersonalityProfile"};
-  QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "PrioritizeSmoothFollowing", "HumanLaneChanges", "LeadDetectionThreshold", "TacoTune", "NavLongitudinalAllowed"};
+  QSet<QString> longitudinalTuneKeys = {"AccelerationProfile", "DecelerationProfile", "HumanAcceleration", "HumanLaneChanges", "LeadDetectionThreshold", "TacoTune", "NavLongitudinalAllowed"};
   QSet<QString> qolKeys = {"CustomCruise", "CustomCruiseLong", "ForceStops", "ForceStopDistanceOffset", "ForceStandstill", "RadarTakeoffs", "IncreasedStoppedDistance", "MapGears", "ReverseCruise", "SetSpeedOffset", "WeatherPresets"};
   QSet<QString> relaxedPersonalityKeys = {"RelaxedFollow", "RelaxedFollowHigh", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration", "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease", "ResetRelaxedPersonality"};
   QSet<QString> speedLimitControllerKeys = {"SLCOffsets", "SLCFallback", "SLCOverride", "SLCPriority", "SLCQOL", "SLCVisuals"};
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 0ddd05d5e..fc68ef26f 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -61,13 +61,12 @@ LEGACY_BOLT_FP_MIGRATION_FLAG = Path("/data") / "legacy_bolt_fp_migration_v1"
 STARPILOT_DEFAULTS_PARITY_MIGRATION_FLAG = Path("/data") / "starpilot_defaults_parity_v1"
 STARPILOT_HUMANLIKE_DISABLE_MIGRATION_FLAG = Path("/data") / "starpilot_humanlike_disable_v1"
 STARPILOT_CLUSTER_OFFSET_MIGRATION_FLAG = Path("/data") / "starpilot_cluster_offset_v1"
-STARPILOT_PRIORITIZE_SMOOTH_FOLLOWING_MIGRATION_FLAG = Path("/data") / "starpilot_prioritize_smooth_following_v1"
 STARPILOT_PARAM_RENAME_MIGRATION_FLAG = Path("/data") / "starpilot_param_rename_v1"
 STARPILOT_PARAM_CANONICALIZATION_MIGRATION_FLAG = Path("/data") / "starpilot_param_canonicalization_v1"
 STARPILOT_PC_ROOT_MIGRATION_FLAG = Path("/data") / "starpilot_pc_root_v1"
 STARPILOT_PARAMS_CACHE_MIGRATION_FLAG = Path("/data") / "starpilot_params_cache_v1"
 STARPILOT_LEGACY_CACHE_MARKER_KEYS = ("RemapCancelToDistance",)
-STARPILOT_REMOVED_PARAM_KEYS = ("HumanFollowing",)
+STARPILOT_REMOVED_PARAM_KEYS = ("CoastUpToLeads", "HumanFollowing", "PrioritizeSmoothFollowing")
 LEGACY_CARMODEL_MIGRATIONS = {
   "CHEVROLET_BOLT_CC_2019_2021": "CHEVROLET_BOLT_CC_2018_2021",
 }
@@ -601,35 +600,6 @@ def migrate_cluster_offset_default(params: Params, params_cache: Params) -> None
     cloudlog.exception(f"Failed to write migration flag: {STARPILOT_CLUSTER_OFFSET_MIGRATION_FLAG}")
 
 
-def migrate_prioritize_smooth_following_default(params: Params, params_cache: Params) -> None:
-  if STARPILOT_PRIORITIZE_SMOOTH_FOLLOWING_MIGRATION_FLAG.exists():
-    return
-
-  if not (_has_persisted_param_file(params, "PrioritizeSmoothFollowing") or _has_persisted_param_file(params_cache, "PrioritizeSmoothFollowing")):
-    migrated_from_legacy = False
-    for params_obj in (params, params_cache):
-      if not _has_persisted_param_file(params_obj, "CoastUpToLeads"):
-        continue
-
-      prioritize_smooth_following = not params_obj.get_bool("CoastUpToLeads")
-      params.put_bool("PrioritizeSmoothFollowing", prioritize_smooth_following)
-      params_cache.put_bool("PrioritizeSmoothFollowing", prioritize_smooth_following)
-      cloudlog.warning(f"Migrated CoastUpToLeads to PrioritizeSmoothFollowing={int(prioritize_smooth_following)}")
-      migrated_from_legacy = True
-      break
-
-    if not migrated_from_legacy:
-      params.put_bool("PrioritizeSmoothFollowing", False)
-      params_cache.put_bool("PrioritizeSmoothFollowing", False)
-      cloudlog.warning("Seeded PrioritizeSmoothFollowing to default disabled")
-
-  try:
-    STARPILOT_PRIORITIZE_SMOOTH_FOLLOWING_MIGRATION_FLAG.parent.mkdir(parents=True, exist_ok=True)
-    STARPILOT_PRIORITIZE_SMOOTH_FOLLOWING_MIGRATION_FLAG.write_text(f"{datetime.datetime.now(datetime.UTC).isoformat()}\n")
-  except Exception:
-    cloudlog.exception(f"Failed to write migration flag: {STARPILOT_PRIORITIZE_SMOOTH_FOLLOWING_MIGRATION_FLAG}")
-
-
 def _read_raw_param_bytes(params: Params, key: str | bytes):
   try:
     path = params.get_param_path(key)
@@ -849,7 +819,6 @@ def manager_init() -> None:
   migrate_starpilot_default_parity(params, params_cache)
   migrate_disable_humanlike_defaults(params, params_cache)
   migrate_cluster_offset_default(params, params_cache)
-  migrate_prioritize_smooth_following_default(params, params_cache)
   last_timing = _log_boot_timing("manager_init", "starpilot_migrations", manager_init_start, last_timing)
 
   # set unset params to their default value
diff --git a/system/manager/test/test_manager.py b/system/manager/test/test_manager.py
index ba1a55681..31ef2b986 100644
--- a/system/manager/test/test_manager.py
+++ b/system/manager/test/test_manager.py
@@ -250,16 +250,20 @@ class TestManager:
 
   def test_cleanup_removed_starpilot_params(self, tmp_path):
     params = FileBackedFakeParams(tmp_path / "params", {
+      "CoastUpToLeads": True,
       "HumanFollowing": True,
     })
     params_cache = FileBackedFakeParams(tmp_path / "cache", {
       "HumanFollowing": False,
+      "PrioritizeSmoothFollowing": True,
     })
 
     manager.cleanup_removed_starpilot_params(params, params_cache)
 
+    assert not Path(params.get_param_path("CoastUpToLeads")).exists()
     assert not Path(params.get_param_path("HumanFollowing")).exists()
     assert not Path(params_cache.get_param_path("HumanFollowing")).exists()
+    assert not Path(params_cache.get_param_path("PrioritizeSmoothFollowing")).exists()
 
   def test_migrate_legacy_starpilot_params_cache_copies_marker_sources(self, tmp_path, monkeypatch):
     monkeypatch.setattr(manager, "STARPILOT_PARAMS_CACHE_MIGRATION_FLAG", tmp_path / "starpilot_params_cache_v1")
@@ -339,43 +343,6 @@ class TestManager:
     assert params.get("ClusterOffset") == "1.02"
     assert params_cache.get("ClusterOffset") is None
 
-  def test_migrate_prioritize_smooth_following_default_seeds_disabled(self, tmp_path, monkeypatch):
-    monkeypatch.setattr(manager, "STARPILOT_PRIORITIZE_SMOOTH_FOLLOWING_MIGRATION_FLAG", tmp_path / "starpilot_prioritize_smooth_following_v1")
-
-    params = FileBackedFakeParams(tmp_path / "params", {})
-    params_cache = FileBackedFakeParams(tmp_path / "cache", {})
-
-    manager.migrate_prioritize_smooth_following_default(params, params_cache)
-
-    assert not params.get_bool("PrioritizeSmoothFollowing")
-    assert not params_cache.get_bool("PrioritizeSmoothFollowing")
-
-  def test_migrate_prioritize_smooth_following_default_inverts_legacy_coast_toggle(self, tmp_path, monkeypatch):
-    monkeypatch.setattr(manager, "STARPILOT_PRIORITIZE_SMOOTH_FOLLOWING_MIGRATION_FLAG", tmp_path / "starpilot_prioritize_smooth_following_v1")
-
-    params = FileBackedFakeParams(tmp_path / "params", {
-      "CoastUpToLeads": False,
-    })
-    params_cache = FileBackedFakeParams(tmp_path / "cache", {})
-
-    manager.migrate_prioritize_smooth_following_default(params, params_cache)
-
-    assert params.get_bool("PrioritizeSmoothFollowing")
-    assert params_cache.get_bool("PrioritizeSmoothFollowing")
-
-  def test_migrate_prioritize_smooth_following_default_preserves_existing_values(self, tmp_path, monkeypatch):
-    monkeypatch.setattr(manager, "STARPILOT_PRIORITIZE_SMOOTH_FOLLOWING_MIGRATION_FLAG", tmp_path / "starpilot_prioritize_smooth_following_v1")
-
-    params = FileBackedFakeParams(tmp_path / "params", {
-      "PrioritizeSmoothFollowing": True,
-      "CoastUpToLeads": True,
-    })
-    params_cache = FileBackedFakeParams(tmp_path / "cache", {})
-
-    manager.migrate_prioritize_smooth_following_default(params, params_cache)
-
-    assert params.get_bool("PrioritizeSmoothFollowing")
-
   def test_cleanup_inaccessible_msgq_files_removes_only_blocked_files(self, tmp_path, monkeypatch):
     healthy = tmp_path / "msgq_deviceState"
     blocked = tmp_path / "msgq_gpsLocation"
diff --git a/tools/StarPilot/feasibleparams.txt b/tools/StarPilot/feasibleparams.txt
index 1106aff71..51b6308f5 100644
--- a/tools/StarPilot/feasibleparams.txt
+++ b/tools/StarPilot/feasibleparams.txt
@@ -61,7 +61,6 @@ ColorScheme
 CommunityFavorites
 ConditionalChill
 ConditionalExperimental
-PrioritizeSmoothFollowing
 CurveSpeedController
 CustomAlerts
 CustomCruise