diff --git a/gtsam/navigation/NavState.cpp b/gtsam/navigation/NavState.cpp
index f7e0d48be..6234b9c27 100644
--- a/gtsam/navigation/NavState.cpp
+++ b/gtsam/navigation/NavState.cpp
@@ -294,30 +294,6 @@ NavState NavState::retract(const Vector9& xi, //
 //------------------------------------------------------------------------------
 Vector9 NavState::localCoordinates(const NavState& g, //
     OptionalJacobian<9, 9> H1, OptionalJacobian<9, 9> H2) const {
-  // return LieGroup<NavState, 9>::localCoordinates(g, H1, H2);
-
-  //TODO(Varun) Fix so that test on L680 passes
-
-  // Matrix3 D_dR_R, D_dt_R, D_dv_R;
-  // const Rot3 dR = R_.between(g.R_, H1 ? &D_dR_R : 0);
-  // const Point3 dP = R_.unrotate(g.t_ - t_, H1 ? &D_dt_R : 0);
-  // const Vector dV = R_.unrotate(g.v_ - v_, H1 ? &D_dv_R : 0);
-
-  // Vector9 xi;
-  // Matrix3 D_xi_R;
-  // xi << Rot3::Logmap(dR, (H1 || H2) ? &D_xi_R : 0), dP, dV;
-  // if (H1) {
-  //   *H1 << D_xi_R * D_dR_R, Z_3x3, Z_3x3, //
-  //   D_dt_R, -I_3x3, Z_3x3, //
-  //   D_dv_R, Z_3x3, -I_3x3;
-  // }
-  // if (H2) {
-  //   *H2 << D_xi_R, Z_3x3, Z_3x3, //
-  //   Z_3x3, dR.matrix(), Z_3x3, //
-  //   Z_3x3, Z_3x3, dR.matrix();
-  // }
-  // return xi;
-
   Matrix3 D_dR_R, D_dt_R, D_dv_R;
   const Rot3 dR = R_.between(g.R_, H1 ? &D_dR_R : 0);
   const Point3 dP = R_.unrotate(g.t_ - t_, H1 ? &D_dt_R : 0);