diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index f0e42616f0..103e7e0ceb 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -10,6 +10,7 @@ from panda import ALTERNATIVE_EXPERIENCE
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
+from openpilot.common.swaglog import cloudlog
 
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
@@ -143,13 +144,17 @@ class Car:
     controlsState = self.sm['controlsState']
     if controlsState.initialized and not self.controlsState_prev.initialized:
       self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
+      cloudlog.timestamp("Initialized")
 
     CS = self.state_update()
+    cloudlog.timestamp("State updated")
 
     if not self.CP.passive and controlsState.initialized:
       self.controls_update(CS, self.sm['carControl'])
+      cloudlog.timestamp("Controls updated")
 
     self.state_publish(CS)
+    cloudlog.timestamp("State published")
 
     self.controlsState_prev = controlsState
 
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 56bd0092ab..91a6fd5718 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -414,6 +414,7 @@ class Controls:
           self.sm.ignore_alive.append('wideRoadCameraState')
 
         self.initialized = True
+        cloudlog.timestamp("Initialized")
         self.set_initial_state()
         self.params.put_bool_nonblocking("ControlsReady", True)
 
@@ -813,12 +814,15 @@ class Controls:
     if not self.CP.passive and self.initialized:
       # Update control state
       self.state_transition(CS)
+    cloudlog.timestamp("State transitioned")
 
     # Compute actuators (runs PID loops and lateral MPC)
     CC, lac_log = self.state_control(CS)
+    cloudlog.timestamp("State controlled")
 
     # Publish data
     self.publish_logs(CS, start_time, CC, lac_log)
+    cloudlog.timestamp("Logs published")
 
     self.CS_prev = CS