So KevZero requested a less kludgy solution, so I came up with the following:
sed -r 's#^\[([0-9]+\.[0-9]+)\](.*)#echo -n "[";echo -n $(date --date="@$(echo "$(grep btime /proc/stat|cut -d " " -f 2)+\1" | bc)" +"%c");echo -n "]";echo -n "\2"#e'
Here's an example:
$ dmesg|tail | sed -r 's#^\[([0-9]+\.[0-9]+)\](.*)#echo -n "[";echo -n $(date --date="@$(echo "$(grep btime /proc/stat|cut -d " " -f 2)+\1" | bc)" +"%c");echo -n "]";echo -n "\2"#e'
[2015-12-09T04:29:20 COT] cfg80211: (57240000 KHz - 63720000 KHz @ 2160000 KHz), (N/A, 0 mBm), (N/A)
[2015-12-09T04:29:23 COT] wlp3s0: authenticate with dc:9f:db:92:d3:07
[2015-12-09T04:29:23 COT] wlp3s0: send auth to dc:9f:db:92:d3:07 (try 1/3)
[2015-12-09T04:29:23 COT] wlp3s0: authenticated
[2015-12-09T04:29:23 COT] wlp3s0: associate with dc:9f:db:92:d3:07 (try 1/3)
[2015-12-09T04:29:23 COT] wlp3s0: RX AssocResp from dc:9f:db:92:d3:07 (capab=0x431 status=0 aid=6)
[2015-12-09T04:29:23 COT] wlp3s0: associated
[2015-12-09T04:29:56 COT] thinkpad_acpi: EC reports that Thermal Table has changed
[2015-12-09T04:29:59 COT] i915 0000:00:02.0: BAR 6: [??? 0x00000000 flags 0x2] has bogus alignment
[2015-12-09T05:00:52 COT] thinkpad_acpi: EC reports that Thermal Table has changed
If you want it to perform a bit better, put the timestamp from proc into a variable instead :)