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You can use rosparam dump to save parameters to a yaml file.
http://wiki.ros.org/rosparam

I use a script to save all parameters right before recording a bag.

#!/bin/bash
rosparam dump `date -u +%Y-%m-%d-%H-%M-%S`.yaml
rosbag record /topic1 /topic2 /topic3

In this case, date doesn't account for the timezone, so the timestamp will be exactly a few hours off.

You can use rosparam dump to save parameters to a yaml file.
http://wiki.ros.org/rosparam

I use a script to save all parameters right before recording a bag.

#!/bin/bash
rosparam dump `date -u +%Y-%m-%d-%H-%M-%S`.yaml
rosbag record /topic1 /topic2 /topic3

In this case, date doesn't account for the timezone, so the timestamp will be exactly a few hours off.Edit: Removed -u option from date.