I had to convert timestamps inline in my bash history to make sense to me.
Maybe the following coming from an answer to How do I replace a substring by the output of a shell command with sed, awk or such? could be interesting to other readers too. Kudos for the original sed inline code go to @Gabriel.
cat ~/.bash_history | sed "s/^#\([0-9]\+\)$/echo -n '#'; date -u --d @\1 '\+\%Y-\%m-\%d \%T'/e" | less