Index: dialin/hd/accelerometer.py
===================================================================
diff -u -racd09d02879e8add4cf7f694f5db8e423a76c341 -reed13ddfba5bd65563145b6e5b9a882da851878e
--- dialin/hd/accelerometer.py	(.../accelerometer.py)	(revision acd09d02879e8add4cf7f694f5db8e423a76c341)
+++ dialin/hd/accelerometer.py	(.../accelerometer.py)	(revision eed13ddfba5bd65563145b6e5b9a882da851878e)
@@ -63,6 +63,7 @@
             self.can_interface.register_receiving_publication_function(channel_id, msg_id,
                                                                        self._handler_accelerometer_sync)
 
+        self.hd_accel_timestamp = 0.0
         self.vector = self.AccelerometerVector()
         self.vector_max = self.AccelerometerVector()
         self.tilts = self.AccelerometerVector()
@@ -89,11 +90,12 @@
         return self.tilts
 
     @publish([
+        "hd_accel_timestamp",
         "vector",
         "vector_max",
         "tilts"
     ])
-    def _handler_accelerometer_sync(self, message):
+    def _handler_accelerometer_sync(self, message,timestamp=0.0):
         """
         Handles published accelerometer data messages.  Accelerometer data are captured
         for reference.
@@ -125,6 +127,7 @@
         z = struct.unpack('f', bytearray(
             message['message'][MsgFieldPositions.START_POS_FIELD_9:MsgFieldPositions.END_POS_FIELD_9]))
         self.tilts = self.AccelerometerVector(x[0], y[0], z[0])
+        self.hd_accel_timestamp = timestamp
 
     def cmd_accel_vector_override(self, axis: int, mag: float, reset: int = NO_RESET) -> int:
         """
Index: dialin/hd/air_bubbles.py
===================================================================
diff -u -racd09d02879e8add4cf7f694f5db8e423a76c341 -reed13ddfba5bd65563145b6e5b9a882da851878e
--- dialin/hd/air_bubbles.py	(.../air_bubbles.py)	(revision acd09d02879e8add4cf7f694f5db8e423a76c341)
+++ dialin/hd/air_bubbles.py	(.../air_bubbles.py)	(revision eed13ddfba5bd65563145b6e5b9a882da851878e)
@@ -58,6 +58,7 @@
             self.can_interface.register_receiving_publication_function(channel_id, msg_id,
                                                                        self._handler_air_bubbles_data_sync)
 
+        self.hd_air_bubbles_timestamp = 0.0
         # Initialize status of ADV air bubble detectors to fluid (no air bubble) detected
         self.air_bubbles_status = [self.FLUID_DETECTED_STATUS]
 
@@ -84,8 +85,8 @@
 
         return self.air_bubbles_state[index]
 
-    @publish("air_bubbles_data")
-    def _handler_air_bubbles_data_sync(self, message):
+    @publish(["hd_air_bubbles_timestamp", "air_bubbles_status", "air_bubbles_state"])
+    def _handler_air_bubbles_data_sync(self, message, timestamp=0.0):
         """
         Handles published air bubbles data messages. Air bubble status and state are captured
         for ADV detector.
@@ -101,6 +102,7 @@
 
         self.air_bubbles_status = [adv_status[0]]
         self.air_bubbles_state = [adv_state[0]]
+        self.hd_air_bubbles_timestamp = timestamp
 
     def cmd_air_bubble_status_override(self, status: int, index: int, reset: int = NO_RESET) -> int:
         """
Index: dialin/hd/air_pump.py
===================================================================
diff -u -r45ef5740d52d0f744175ace8312d62c023abc1b9 -reed13ddfba5bd65563145b6e5b9a882da851878e
--- dialin/hd/air_pump.py	(.../air_pump.py)	(revision 45ef5740d52d0f744175ace8312d62c023abc1b9)
+++ dialin/hd/air_pump.py	(.../air_pump.py)	(revision eed13ddfba5bd65563145b6e5b9a882da851878e)
@@ -47,6 +47,7 @@
                                                                        self._handler_air_pump_sync)
 
         self.air_pump_state = 0
+        self.hd_air_pump_timestamp = 0.0
 
     def get_air_pump_state(self):
         """
@@ -56,8 +57,8 @@
         """
         return self.air_pump_state
 
-    @publish(["air_pump_state"])
-    def _handler_air_pump_sync(self, message):
+    @publish(["hd_air_pump_timestamp", "air_pump_state"])
+    def _handler_air_pump_sync(self, message, timestamp=0.0):
         """
         Handles published air pump data messages.
 
@@ -68,6 +69,7 @@
             message['message'][MsgFieldPositions.START_POS_FIELD_1:MsgFieldPositions.END_POS_FIELD_1]))
 
         self.air_pump_state = aps[0]
+        self.hd_air_pump_timestamp = timestamp
 
     def cmd_air_pump_set_state(self, state: int) -> int:
         """
Index: dialin/hd/air_trap.py
===================================================================
diff -u -r858a23ec52b7a982ca68588a80a39a775d16a315 -reed13ddfba5bd65563145b6e5b9a882da851878e
--- dialin/hd/air_trap.py	(.../air_trap.py)	(revision 858a23ec52b7a982ca68588a80a39a775d16a315)
+++ dialin/hd/air_trap.py	(.../air_trap.py)	(revision eed13ddfba5bd65563145b6e5b9a882da851878e)
@@ -56,6 +56,7 @@
 
         self.lower_level = self.AIR_DETECTED_AT_LEVEL
         self.upper_level = self.AIR_DETECTED_AT_LEVEL
+        self.hd_air_trap_timestamp = 0.0
 
     def get_air_trap_levels(self):
         """
@@ -81,8 +82,8 @@
         """
         return self.upper_level
 
-    @publish(["lower_level", "upper_level"])
-    def _handler_air_trap_sync(self, message):
+    @publish(["hd_air_trap_timestamp", "lower_level", "upper_level"])
+    def _handler_air_trap_sync(self, message, timestamp=0.0):
         """
         Handles published air trap data messages.  Air trap data are captured
         for reference.
@@ -98,6 +99,7 @@
 
         self.lower_level = lower[0]
         self.upper_level = upper[0]
+        self.hd_air_trap_timestamp = timestamp
 
     def cmd_air_trap_level_sensor_override(self, sensor: int, detected: int, reset: int = NO_RESET) -> int:
         """