diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp
index 1d191416f..7d4797132 100644
--- a/gtsam/navigation/NavState.cpp
+++ b/gtsam/navigation/NavState.cpp
@@ -89,8 +89,8 @@ Matrix7 NavState::matrix() const {
 //------------------------------------------------------------------------------
 ostream& operator<<(ostream& os, const NavState& state) {
   os << "R: " << state.attitude() << "\n";
-  os << "p: " << state.position() << "\n";
-  os << "v: " << Point3(state.velocity());
+  os << "p: " << state.position().transpose() << "\n";
+  os << "v: " << state.velocity().transpose();
   return os;
 }
 
diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp
index d38b76255..48dd3bc3e 100644
--- a/gtsam/navigation/tests/testNavState.cpp
+++ b/gtsam/navigation/tests/testNavState.cpp
@@ -215,7 +215,7 @@ TEST(NavState, Stream)
   os << state;
 
   string expected;
-  expected = "R: [\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\np: 0\n0\n0\nv: 0\n0\n0";
+  expected = "R: [\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\np: 0 0 0\nv: 0 0 0";
 
   EXPECT(os.str() == expected);
 }