diff --git a/gtsam/base/timing.cpp b/gtsam/base/timing.cpp
index 0942735ad..9e0bfdc28 100644
--- a/gtsam/base/timing.cpp
+++ b/gtsam/base/timing.cpp
@@ -16,8 +16,10 @@
  * @date 		Oct 5, 2010
  */
 
+#include <math.h>
 #include <stdio.h>
 #include <iostream>
+#include <iomanip>
 #include <sys/time.h>
 #include <stdlib.h>
 #include <boost/foreach.hpp>
@@ -41,6 +43,7 @@ void TimingOutline::add(size_t usecs) {
 	t_ += usecs;
 	tIt_ += usecs;
 	++ n_;
+  history_.push_back(usecs);
 }
 
 /* ************************************************************************* */
@@ -83,6 +86,44 @@ void TimingOutline::print(const std::string& outline) const {
 	}
 }
 
+void TimingOutline::print2(const std::string& outline) const {
+
+  const int w1 = 24, w2 = 3, w3 = 6, precision = 3;
+  const double selfTotal = double(t_)/(1000000.0),
+               selfMean = selfTotal/double(n_);
+  // const double childMean = double(time())/(1000000.0*n_);
+
+  // compute standard deviation
+  double acc = 0.0;
+  BOOST_FOREACH(const size_t &t, history_) {
+    const double tmp = double(t)/1000000.0 - selfMean ;
+    acc += (tmp*tmp);
+  }
+  const double selfStd = sqrt(acc);
+  const std::string label = label_ + ": " ;
+
+  if ( n_ == 0 ) {
+    std::cout << label << std::fixed << std::setprecision(precision) << double(time())/(1000000.0) << " seconds" << std::endl;
+  }
+  else {
+  std::cout << std::setw(w1) << label ;
+  std::cout << std::setiosflags(std::ios::right) << std::setw(w2) << n_ << " (times), "
+    << std::setiosflags(std::ios::right) << std::fixed << std::setw(w3) << std::setprecision(precision) << selfMean << " (mean), "
+    << std::setiosflags(std::ios::right) << std::fixed << std::setw(w3) << std::setprecision(precision) << selfStd  << " (std),"
+    << std::setiosflags(std::ios::right) << std::fixed << std::setw(w3) << std::setprecision(precision) << selfTotal  << " (total)"
+    //<< std::setprecision(precision) << std::setw(w3) << std::fixed << childMean << " (child-mean)"
+    << std::endl;
+  }
+
+  for(size_t i=0; i<children_.size(); ++i) {
+    if(children_[i]) {
+      std::string childOutline(outline);
+      childOutline += "  ";
+      children_[i]->print2(childOutline);
+    }
+  }
+}
+
 /* ************************************************************************* */
 const boost::shared_ptr<TimingOutline>& TimingOutline::child(size_t child, const std::string& label, const boost::weak_ptr<TimingOutline>& thisPtr) {
 	assert(thisPtr.lock().get() == this);
diff --git a/gtsam/base/timing.h b/gtsam/base/timing.h
index baefae8e4..cd6624980 100644
--- a/gtsam/base/timing.h
+++ b/gtsam/base/timing.h
@@ -35,6 +35,7 @@ protected:
   size_t tMin_;
   size_t n_;
   std::string label_;
+  std::vector<size_t> history_;
   boost::weak_ptr<TimingOutline> parent_;
   std::vector<boost::shared_ptr<TimingOutline> > children_;
   struct timeval t0_;
@@ -50,6 +51,8 @@ public:
 
   void print(const std::string& outline = "") const;
 
+  void print2(const std::string& outline = "") const;
+
   const boost::shared_ptr<TimingOutline>& child(size_t child, const std::string& label, const boost::weak_ptr<TimingOutline>& thisPtr);
 
   void tic();
@@ -168,11 +171,17 @@ inline void ticPush_(const std::string& prefix, const std::string& id) {
   tic_(id);
 }
 void ticPop_(const std::string& prefix, const std::string& id);
+
 inline void tictoc_print_() {
   timing.print();
   timingRoot->print();
 }
 
+/* print mean and standard deviation */
+inline void tictoc_print2_() {
+  timingRoot->print2();
+}
+
 #ifdef ENABLE_TIMING
 inline double _tic() { return _tic_(); }
 inline double _toc(double t) { return _toc_(t); }