diff --git a/RELEASES.md b/RELEASES.md
index ef96e09e5..48e3b647d 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -9,6 +9,7 @@ Version 0.5.10 (2019-03-19)
  * Refactor comma pedal FW and use CRC-8 checksum algorithm for safety. Reflashing pedal is required. 
    Please see `#hw-pedal` on [discord](discord.comma.ai) for assistance updating comma pedal. 
  * Additional speed limit rules for Germany thanks to arne182
+ * Allow negative speed limit offsets
 
 Version 0.5.9 (2019-02-10)
 ========================
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index f4c7cade8..718e7ae61 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -198,11 +198,11 @@ class CarState(object):
                                       cp.vl["DOORS_STATUS"]['DOOR_OPEN_RL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_RR']])
     self.seatbelt = not cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LAMP'] and cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LATCHED']
 
-    # 2 = temporary; 3 = TBD; 4 = temporary, hit a bump; 5 = (permanent); 6 = temporary; 7 = (permanent)
+    # 2 = temporary; 3 = TBD; 4 = significant steering wheel torque; 5 = (permanent); 6 = temporary; 7 = (permanent)
     # TODO: Use values from DBC to parse this field
     self.steer_error = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 2, 3, 4, 6]
-    self.steer_not_allowed = cp.vl["STEER_STATUS"]['STEER_STATUS'] != 0
-    self.steer_warning = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 3]   # 3 is low speed lockout, not worth a warning
+    self.steer_not_allowed = cp.vl["STEER_STATUS"]['STEER_STATUS']  not in [0, 4]  # 4 can be caused by bump OR steering nudge from driver
+    self.steer_warning = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 3, 4]   # 3 is low speed lockout, not worth a warning
     if self.CP.radarOffCan:
       self.brake_error = 0
     else:
diff --git a/selfdrive/debug/dump.py b/selfdrive/debug/dump.py
index 92b10cadc..45b737953 100755
--- a/selfdrive/debug/dump.py
+++ b/selfdrive/debug/dump.py
@@ -39,7 +39,7 @@ if __name__ == "__main__":
       port = int(m)
     else:
       print("service not found")
-      exit(-1)
+      sys.exit(-1)
     sock = messaging.sub_sock(context, port, poller, addr=args.addr)
     if args.proxy:
       republish_socks[sock] = messaging.pub_sock(context, port)
diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py
index bac43a0a1..c76294e6c 100644
--- a/selfdrive/tombstoned.py
+++ b/selfdrive/tombstoned.py
@@ -11,8 +11,9 @@ from selfdrive.version import version, dirty
 from selfdrive.swaglog import cloudlog
 
 def get_tombstones():
-  return [("/data/tombstones/"+fn, int(os.stat("/data/tombstones/"+fn).st_ctime) )
-          for fn in os.listdir("/data/tombstones") if fn.startswith("tombstone")]
+  DIR_DATA = "/data/tombstones/"
+  return [(DIR_DATA + fn, int(os.stat(DIR_DATA + fn).st_ctime) )
+          for fn in os.listdir(DIR_DATA) if fn.startswith("tombstone")]
 
 def report_tombstone(fn, client):
   mtime = os.path.getmtime(fn)