diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1ea3d2c..9093fba 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -265,7 +265,7 @@ endif()
 
 
 
-install(TARGETS basalt_calibrate basalt_calibrate_imu basalt_vio_sim basalt_mapper_sim basalt_mapper_sim_naive basalt_mapper basalt_opt_flow basalt_vio basalt_kitti_eval basalt
+install(TARGETS basalt_calibrate basalt_calibrate_imu basalt_vio_sim basalt_mapper_sim basalt_mapper_sim_naive basalt_mapper basalt_opt_flow basalt_vio basalt_kitti_eval basalt_time_alignment basalt
   EXPORT BasaltTargets
   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
   LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
diff --git a/src/time_alignment.cpp b/src/time_alignment.cpp
index 4d8b0d5..f461063 100644
--- a/src/time_alignment.cpp
+++ b/src/time_alignment.cpp
@@ -66,6 +66,8 @@ int main(int argc, char **argv) {
   std::string output_gyro_path;
   std::string output_mocap_path;
 
+  double max_offset_s = 10.0;
+
   bool show_gui = true;
 
   CLI::App app{"Calibrate time offset"};
@@ -89,6 +91,9 @@ int main(int argc, char **argv) {
       "--output-mocap", output_mocap_path,
       "Path to output file with mocap rotational velocities for plotting");
 
+  app.add_option("--max-offset", max_offset_s,
+                 "Maximum offset for a grid search in seconds.");
+
   app.add_flag("--show-gui", show_gui, "Show GUI for debugging");
 
   try {
@@ -208,7 +213,7 @@ int main(int argc, char **argv) {
   double best_error = std::numeric_limits<double>::max();
   int best_error_idx = -1;
 
-  int64_t max_offset_ns = 10000000000;
+  int64_t max_offset_ns = max_offset_s * 1e9;
   int64_t offset_inc_ns = 100000;
 
   for (int64_t offset_ns = -max_offset_ns; offset_ns <= max_offset_ns;
diff --git a/thirdparty/basalt-headers b/thirdparty/basalt-headers
index ad09f79..ee71c01 160000
--- a/thirdparty/basalt-headers
+++ b/thirdparty/basalt-headers
@@ -1 +1 @@
-Subproject commit ad09f793c8cf584f20b453c0a348e520c7e67efd
+Subproject commit ee71c0172400419853f675d385ee7e06242facaf