Jackal odometry producing large covariances?

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I'm getting exploding covariance readings (along the diagonal) when echoing my /odometry/filtered topic on a jackal robot

header:    seq: 51936   stamp: 
    secs: 1533236107
    nsecs: 579915762   frame_id: "odom" child_frame_id: "base_link" pose:    pose: 
    position: 
      x: -1.0615022635
      y: 0.781039664382
      z: 0.0574243827245
    orientation: 
      x: -0.000565326105048
      y: 0.00129452020895
      z: -0.722981516966
      w: 0.690865928201   covariance: [52.22660058406395,
2.36797290728725e-06, 1.0344690435191654e-05, -1.412923508928883e-37, -5.323328075794997e-37, -3.0325742350059946e-33, 2.3679729072872455e-06, 52.226580153537775, 4.630394046333056e-06, 6.415510432550216e-39, -1.52209745995386e-35, 1.378174221195611e-34, 1.0344690435191593e-05, 4.630394046333093e-06, 62.66584761441557, 2.4284539729416056e-39, 6.071418793042712e-33, -5.009970111481826e-38, -1.4129235089288823e-37, 6.415510432550213e-39, 2.4284539729415573e-39, 9.999974359129776e-10, 3.7247437261868537e-28, -2.646392184397966e-26, -5.323328075794997e-37, -1.5220974599538599e-35, 6.071418793042711e-33, 3.7247437261815377e-28, 9.999974359129776e-10, -1.0056936786572167e-25, -3.0325742350059946e-33, 1.3781742211956115e-34, -5.009970111481829e-38, -2.6463921843979677e-26, -1.0056936786572173e-25, 9.999987179531678e-10] twist:    twist: 
    linear: 
      x: -1.36494277252e-16
      y: 0.0
      z: 0.0
    angular: 
      x: 0.00114722208953
      y: -0.000894948616335
      z: -0.000156898909114   covariance: [0.0015009578520837957,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0015009578520837957, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0020931884517782426, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.21732790378605e-07, 8.251167061986038e-27, -4.2753698250399015e-24, 0.0, 0.0, 0.0, 8.251167062032128e-27, 1.21732790378605e-07, -1.3789888806793583e-24, 0.0, 0.0, 0.0, -4.275369825039899e-24, -1.3789888806793574e-24, 1.2178973261379077e-07].

What are ways of mitigating this?