[Kevin Sevcik]

In answer to the original question, the only info coming from the FMS is Auton/Teleop Mode and Enabled/Disabled. There isn't anything in the data structure concerning additional match timing events. So, as everyone here is suggesting, your only option for doing this is to start a timer at the beginning of teleop + enabled, and then wait an appropriate amount of time before deploying.

And as yet others have noted, the timing of FMS match events may not be in perfect agreement with your timing on the robot.