diff --git a/openpilot/system/athena/athenad.py b/openpilot/system/athena/athenad.py
index 828ae6b84..1351f45c2 100755
--- a/openpilot/system/athena/athenad.py
+++ b/openpilot/system/athena/athenad.py
@@ -795,7 +795,7 @@ def startStream(sdp: str, enabled: bool) -> dict:
   bridge_services_in = []
 
   # stale car params case taken care of by webrtcd being shut off on ignition
-  cp_bytes = Params().get("CarParamsPersistent")
+  cp_bytes = params.get("CarParamsPersistent")
   if cp_bytes is not None:
     with car.CarParams.from_bytes(cp_bytes) as CP:
       if CP.notCar:
@@ -808,7 +808,11 @@ def startStream(sdp: str, enabled: bool) -> dict:
     # webrtcd clears IsLiveStreaming when the session ends
     params.put_bool("IsLiveStreaming", True)
     # wait for webrtcd end points to wake up
-    wait_for_webrtcd()
+    try:
+      wait_for_webrtcd()
+    except TimeoutError:
+      cloudlog.event("athena.startStream.webrtcd_offroad_start_timeout", error=True)
+      raise
 
   return post_stream_request(StreamRequestBody(sdp, ["wideRoad"], enabled, bridge_services_in, ["carState", "deviceState"]))
 
diff --git a/openpilot/system/webrtc/webrtcd.py b/openpilot/system/webrtc/webrtcd.py
index 3c0c3037f..56b4ac43c 100755
--- a/openpilot/system/webrtc/webrtcd.py
+++ b/openpilot/system/webrtc/webrtcd.py
@@ -21,10 +21,16 @@ from typing import Any
 from openpilot.system.webrtc.helpers import StreamRequestBody
 from openpilot.system.webrtc.schema import generate_field
 from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
 from openpilot.cereal import messaging, log
 
 SESSION_TIMEOUT_SECONDS = 300
 
+
+# ice candidate parser for logging
+def _ice_candidates(sdp: str) -> list[str]:
+  return [line.removeprefix("a=") for line in sdp.splitlines() if line.startswith("a=candidate:")]
+
 # socket trick: route lookup for 8.8.8.8 (nothing is sent or actually connected to)
 # return the source interfaces IP which is the default interface of the device
 def _default_route_ip() -> str | None:
@@ -253,7 +259,7 @@ class StreamSession:
     self._cleanup_lock = asyncio.Lock()
     self._cleanup_done = False
     self.logger = logging.getLogger("webrtcd")
-    self.logger.info(
+    cloudlog.warning(
       "New stream session (%s), video cameras %s, video enabled %s, incoming services %s, outgoing services %s",
       self.identifier, [t.id for t in self.video_tracks], body.enabled, body.bridge_services_in, body.bridge_services_out,
     )
@@ -341,14 +347,18 @@ class StreamSession:
       if self.bitrate_controller is not None:
         self.bitrate_controller.start()
 
-      self.logger.info("Stream session (%s) connected", self.identifier)
+      with cloudlog.ctx(session_id=self.identifier):
+        cloudlog.warning("webrtcd.session.connected")
       if self.is_body:
         await self.run_body_session()
       else:
         await self.run_normal_session()
-      self.logger.info("Stream session (%s) ended", self.identifier)
+      with cloudlog.ctx(session_id=self.identifier):
+        cloudlog.warning("webrtcd.session.ended")
     except Exception:
       self.logger.exception("Stream session failure")
+      with cloudlog.ctx(session_id=self.identifier):
+        cloudlog.exception("webrtcd.session.exception")
     finally:
       await self.post_run_cleanup()
 
@@ -422,15 +432,25 @@ async def handle_get_stream(state: ServerState, raw_body: bytes, content_type: s
     stream_dict[session.identifier] = session
     try:
       answer = await asyncio.wait_for(session.get_answer(), timeout=30)
+      cloudlog.event(
+        "webrtcd.session.ice_candidates",
+        session_id=session.identifier,
+        offer_candidates=_ice_candidates(body.sdp),
+        answer_candidates=_ice_candidates(answer.sdp),
+      )
     except TimeoutError:
       await session.stop()
       stream_dict.pop(session.identifier, None)
       logging.getLogger("webrtcd").exception("Timed out creating stream answer")
+      with cloudlog.ctx(session_id=session.identifier):
+        cloudlog.warning("webrtcd.session.answer_timeout")
       raise
     except Exception:
       await session.stop()
       stream_dict.pop(session.identifier, None)
       logging.getLogger("webrtcd").exception("Failed to create stream answer")
+      with cloudlog.ctx(session_id=session.identifier):
+        cloudlog.exception("webrtcd.session.answer_exception")
       raise
     session.start()