diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 7660e5bd3a..a3bec8688a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -445,6 +445,15 @@ class Controls:
         self.set_initial_state()
         self.params.put_bool_nonblocking("ControlsReady", True)
 
+        if not all_valid and timed_out:
+          cloudlog.event(
+            "controlsd.init_timeout",
+            canValid=CS.canValid,
+            invalid=[s for s, valid in self.sm.valid.items() if not valid],
+            not_alive=[s for s, alive in self.sm.alive.items() if not alive],
+            not_freq_ok=[s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
+          )
+
     # Check for CAN timeout
     if not can_strs:
       self.can_rcv_timeout_counter += 1