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I was able to solve this by modifying the process_noise_covariance matrix. I changed the default value for az from 0.015 to 0.15 and that resolved my problem. Hope this helps someone else out. It was my x and z positions that were out of whack, but this was the one that addressed my problem.

I increased all the values and base_link to odom converged quickly. I then switched the values back to the defaults in groups of 3 (x, y, z) then (roll, pitch, yaw) then (vx, vy, vz), etc until the behavior changed. Then I did each one in that group till I found the culprit. I then adjusted it until it was converging appropriately (not sure how to quantify this).