diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py
new file mode 100755
index 0000000000..838cba61e7
--- /dev/null
+++ b/selfdrive/debug/check_timings.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python3
+# type: ignore
+import sys
+import time
+import numpy as np
+from collections import defaultdict, deque
+
+import cereal.messaging as messaging
+
+socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]}
+ts = defaultdict(lambda: deque(maxlen=100))
+
+if __name__ == "__main__":
+  while True:
+    print()
+    for s, sock in socks.items():
+      msgs = messaging.drain_sock(sock)
+      for m in msgs:
+        ts[s].append(m.logMonoTime / 1e6)
+      time.sleep(1)
+
+      if len(ts[s]) == ts[s].maxlen:
+        d = np.diff(ts[s])
+        print(f"{s:17} {np.max(d):.2f} {np.max(d):.2f} {np.max(d):.2f} {np.std(d):.2f}")