diff --git a/cmake/GtsamMatlabWrap.cmake b/cmake/GtsamMatlabWrap.cmake
index 98bd7f469..6785d0610 100644
--- a/cmake/GtsamMatlabWrap.cmake
+++ b/cmake/GtsamMatlabWrap.cmake
@@ -93,7 +93,7 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
 	
 	# Paths for generated files
 	set(generated_files_path "${PROJECT_BINARY_DIR}/wrap/${moduleName}")
-	set(generated_cpp_file "${PROJECT_BINARY_DIR}/wrap/${moduleName}/${moduleName}_wrapper.cpp")
+	set(generated_cpp_file "${generated_files_path}/${moduleName}_wrapper.cpp")
 	set(compiled_mex_modules_root "${PROJECT_BINARY_DIR}/wrap/${moduleName}_mex")
 	
 	message(STATUS "Building wrap module ${moduleName}")
@@ -108,24 +108,87 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
 		list(GET GTSAM_INCLUDE_DIR 0 installed_includes_path)
 		set(matlab_h_path "${installed_includes_path}/wrap")
 	endif()
-	
-	# Add -shared or -static suffix to targets
+
+	# If building a static mex module, add all cmake-linked libraries to the
+	# explicit link libraries list so that the next block of code can unpack
+	# any static libraries
+	set(automaticDependencies "")
+	foreach(lib ${moduleName} ${linkLibraries})
+	  message("MODULE NAME: ${moduleName}")
+		if(TARGET "${lib}")
+            get_target_property(dependentLibraries ${lib} INTERFACE_LINK_LIBRARIES)
+            message("DEPENDENT LIBRARIES:  ${dependentLibraries}")
+            if(dependentLibraries)
+               list(APPEND automaticDependencies ${dependentLibraries})
+            endif()
+        endif()
+    endforeach()
+    
+    ## CHRIS: START HACK. On my system the get_target_property above returned Not-found for gtsam module
+    ## This needs to be fixed!!
+    if(UNIX AND NOT APPLE)
+      list(APPEND automaticDependencies ${Boost_SERIALIZATION_LIBRARY_RELEASE} ${Boost_FILESYSTEM_LIBRARY_RELEASE}
+        ${Boost_SYSTEM_LIBRARY_RELEASE} ${Boost_THREAD_LIBRARY_RELEASE} ${Boost_DATE_TIME_LIBRARY_RELEASE}
+        ${Boost_REGEX_LIBRARY_RELEASE})
+      if(Boost_TIMER_LIBRARY_RELEASE AND NOT GTSAM_DISABLE_NEW_TIMERS) # Only present in Boost >= 1.48.0
+        list(APPEND automaticDependencies ${Boost_TIMER_LIBRARY_RELEASE} ${Boost_CHRONO_LIBRARY_RELEASE})
+        if(GTSAM_MEX_BUILD_STATIC_MODULE)
+          #list(APPEND automaticDependencies -Wl,--no-as-needed -lrt)
+        endif()
+      endif()
+    endif()
+    
+    message("AUTOMATIC DEPENDENCIES:  ${automaticDependencies}")
+    ## CHRIS: END HACK
+
+	# Separate dependencies
 	set(correctedOtherLibraries "")
 	set(otherLibraryTargets "")
     set(otherLibraryNontargets "")
-	foreach(lib ${moduleName} ${linkLibraries})
-		if(TARGET ${lib})
-			list(APPEND correctedOtherLibraries ${lib})
-			list(APPEND otherLibraryTargets ${lib})
-		elseif(TARGET ${lib}-shared) # Prefer the shared library if we have both shared and static)
-			list(APPEND correctedOtherLibraries ${lib}-shared)
-			list(APPEND otherLibraryTargets ${lib}-shared)
-		elseif(TARGET ${lib}-static)
-			list(APPEND correctedOtherLibraries ${lib}-static)
-			list(APPEND otherLibraryTargets ${lib}-static)
+    set(otherSourcesAndObjects "")
+	foreach(lib ${moduleName} ${linkLibraries} ${automaticDependencies})
+		if(TARGET "${lib}")
+		    if(GTSAM_MEX_BUILD_STATIC_MODULE)
+		    	get_target_property(target_sources ${lib} SOURCES)
+		    	list(APPEND otherSourcesAndObjects ${target_sources})
+		    else()
+				list(APPEND correctedOtherLibraries ${lib})
+				list(APPEND otherLibraryTargets ${lib})
+		    endif()
 		else()
-			list(APPEND correctedOtherLibraries ${lib})
-            list(APPEND otherLibraryNontargets ${lib})
+			get_filename_component(file_extension "${lib}" EXT)
+			get_filename_component(lib_name "${lib}" NAME_WE)
+			if(file_extension STREQUAL ".a" AND GTSAM_MEX_BUILD_STATIC_MODULE)
+				# For building a static MEX module, unpack the static library
+				# and compile its object files into our module
+				file(MAKE_DIRECTORY "${generated_files_path}/${lib_name}_objects")
+				execute_process(COMMAND ar -x "${lib}"
+				                WORKING_DIRECTORY "${generated_files_path}/${lib_name}_objects"
+				                RESULT_VARIABLE ar_result)
+				if(NOT ar_result EQUAL 0)
+					message(FATAL_ERROR "Failed extracting ${lib}")
+				endif()
+
+				# Get list of object files
+				execute_process(COMMAND ar -t "${lib}"
+								OUTPUT_VARIABLE object_files
+				                RESULT_VARIABLE ar_result)
+				if(NOT ar_result EQUAL 0)
+					message(FATAL_ERROR "Failed listing ${lib}")
+				endif()
+
+				# Add directory to object files
+				string(REPLACE "\n" ";" object_files_list "${object_files}")
+				foreach(object_file ${object_files_list})
+					get_filename_component(file_extension "${object_file}" EXT)
+					if(file_extension STREQUAL ".o")
+						list(APPEND otherSourcesAndObjects "${generated_files_path}/${lib_name}_objects/${object_file}")
+					endif()
+				endforeach()
+			else()
+				list(APPEND correctedOtherLibraries ${lib})
+	            list(APPEND otherLibraryNontargets ${lib})
+            endif()
 		endif()
 	endforeach()
     
@@ -144,7 +207,7 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
 	file(MAKE_DIRECTORY "${generated_files_path}")
 	add_custom_command(
 		OUTPUT ${generated_cpp_file}
-		DEPENDS ${interfaceHeader} wrap ${module_library_target} ${otherLibraryTargets}
+		DEPENDS ${interfaceHeader} wrap ${module_library_target} ${otherLibraryTargets} ${otherSourcesAndObjects}
         COMMAND 
             wrap
             ${modulePath}
@@ -157,7 +220,7 @@ function(wrap_library_internal interfaceHeader linkLibraries extraIncludeDirs ex
 	# Set up building of mex module
 	string(REPLACE ";" " " extraMexFlagsSpaced "${extraMexFlags}")
 	string(REPLACE ";" " " mexFlagsSpaced "${GTSAM_BUILD_MEX_BINARY_FLAGS}")
-	add_library(${moduleName}_wrapper MODULE ${generated_cpp_file} ${interfaceHeader})
+	add_library(${moduleName}_wrapper MODULE ${generated_cpp_file} ${interfaceHeader} ${otherSourcesAndObjects})
 	target_link_libraries(${moduleName}_wrapper ${correctedOtherLibraries})
 	set_target_properties(${moduleName}_wrapper PROPERTIES
 		OUTPUT_NAME              "${moduleName}_wrapper"
diff --git a/package_scripts/compile_static_boost.sh b/package_scripts/compile_static_boost.sh
old mode 100644
new mode 100755
diff --git a/package_scripts/toolbox_package_unix.sh b/package_scripts/toolbox_package_unix.sh
index 0fcbd3151..844987324 100755
--- a/package_scripts/toolbox_package_unix.sh
+++ b/package_scripts/toolbox_package_unix.sh
@@ -33,28 +33,32 @@ fi
 
 # Run cmake
 cmake -DCMAKE_BUILD_TYPE=Release \
--DGTSAM_INSTALL_MATLAB_TOOLBOX:bool=true \
+-DGTSAM_INSTALL_MATLAB_TOOLBOX:BOOL=ON \
 -DCMAKE_INSTALL_PREFIX="$PWD/stage" \
--DBoost_NO_SYSTEM_PATHS:bool=true \
--DBoost_USE_STATIC_LIBS:bool=true \
+-DBoost_NO_SYSTEM_PATHS:BOOL=ON \
+-DBoost_USE_STATIC_LIBS:BOOL=ON \
 -DBOOST_ROOT="$1" \
--DGTSAM_BUILD_SHARED_LIBRARY:bool=false \
--DGTSAM_BUILD_STATIC_LIBRARY:bool=true \
--DGTSAM_BUILD_TESTS:bool=false \
--DGTSAM_BUILD_EXAMPLES:bool=false \
--DGTSAM_BUILD_UNSTABLE:bool=false \
--DGTSAM_DISABLE_EXAMPLES_ON_INSTALL:bool=true \
--DGTSAM_DISABLE_TESTS_ON_INSTALL:bool=true \
--DGTSAM_BUILD_CONVENIENCE_LIBRARIES:bool=false \
--DGTSAM_MEX_BUILD_STATIC_MODULE:bool=true ..
+-DGTSAM_BUILD_TESTS:BOOL=OFF \
+-DGTSAM_BUILD_TIMING:BOOL=OFF \
+-DGTSAM_BUILD_EXAMPLES_ALWAYS:BOOL=OFF \
+-DGTSAM_WITH_TBB:BOOL=OFF \
+-DGTSAM_BUILD_METIS:BOOL=OFF \
+-DGTSAM_INSTALL_GEOGRAPHICLIB:BOOL=OFF \
+-DGTSAM_BUILD_UNSTABLE:BOOL=OFF \
+-DGTSAM_MEX_BUILD_STATIC_MODULE:BOOL=ON ..
 
-if [ ! $? ]; then
+if [ $? -ne 0 ]; then
 	echo "CMake failed"
 	exit 1
 fi
 
 # Compile
-make -j4 install
+make -j8 install
+
+if [ $? -ne 0 ]; then
+    echo "Compile failed"
+    exit 1
+fi
 
 # Create package
-tar czf gtsam-toolbox-2.3.0-$platform.tgz -C stage/borg toolbox
+tar czf gtsam-toolbox-3.0.0-$platform.tgz -C stage/gtsam_toolbox toolbox