A leadless cardiac pacemaker, LCP (100; 400), configured to sense cardiac activity and to deliver pacing therapy to a patient's heart, the LCP comprising: a housing (120; 402); a first electrode (114; 114'; 410) secured relative to the housing and exposed to the environment outside of the housing; a second electrode (114; 114'; 412) responsive to the environment outside of the housing; a sensing module (106; 108; 430) secured relative to the housing and exposed to the environment outside of the housing, the sensing module including one or more of a pressure measurement module and an acoustic measurement module, the sensing module configured to gather information suitable for identifying two or more timing fiducials associated a cardiac cycle of the patient's heart; a control module operatively coupled to the first electrode, the second electrode, and the sensing module, the control module is configured to: process information gathered by the sensing module to identify the two or more timing fiducials associated the cardiac cycle of the patient's heart; and deliver a pacing pulse to the patient's heart via the first electrode and the second electrode, wherein the pacing pulse is to be delivered at a predetermined time after a predetermined one of the two or more identified timing fiducials, wherein the predetermined time is dependent on which of the two or more identified timing fiducials is used as the predetermined one of the two or more identified timing fiducials. a housing (120; 402); a first electrode (114; 114'; 410) secured relative to the housing and exposed to the environment outside of the housing; a second electrode (114; 114'; 412) responsive to the environment outside of the housing; a sensing module (106; 108; 430) secured relative to the housing and exposed to the environment outside of the housing, the sensing module including one or more of a pressure measurement module and an acoustic measurement module, the sensing module configured to gather information suitable for identifying two or more timing fiducials associated a cardiac cycle of the patient's heart; a control module operatively coupled to the first electrode, the second electrode, and the sensing module, the control module is configured to: process information gathered by the sensing module to identify the two or more timing fiducials associated the cardiac cycle of the patient's heart; and deliver a pacing pulse to the patient's heart via the first electrode and the second electrode, wherein the pacing pulse is to be delivered at a predetermined time after a predetermined one of the two or more identified timing fiducials, wherein the predetermined time is dependent on which of the two or more identified timing fiducials is used as the predetermined one of the two or more identified timing fiducials. process information gathered by the sensing module to identify the two or more timing fiducials associated the cardiac cycle of the patient's heart; and deliver a pacing pulse to the patient's heart via the first electrode and the second electrode, wherein the pacing pulse is to be delivered at a predetermined time after a predetermined one of the two or more identified timing fiducials, wherein the predetermined time is dependent on which of the two or more identified timing fiducials is used as the predetermined one of the two or more identified timing fiducials.