diff --git a/gtsam/navigation/tests/testCombinedImuFactor.cpp b/gtsam/navigation/tests/testCombinedImuFactor.cpp
index c1c17a6d4..3ef810cad 100644
--- a/gtsam/navigation/tests/testCombinedImuFactor.cpp
+++ b/gtsam/navigation/tests/testCombinedImuFactor.cpp
@@ -163,11 +163,11 @@ TEST(CombinedImuFactor, PredictPositionAndVelocity) {
   // Measurements
   const Vector3 measuredOmega(0, 0.1, 0);  // M_PI/10.0+0.3;
   const Vector3 measuredAcc(0, 1.1, -kGravity);
-  const double deltaT = 0.001;
+  const double deltaT = 0.01;
 
   PreintegratedCombinedMeasurements pim(p, bias);
 
-  for (int i = 0; i < 1000; ++i)
+  for (int i = 0; i < 100; ++i)
     pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
 
   // Create factor
@@ -190,9 +190,9 @@ TEST(CombinedImuFactor, PredictRotation) {
   PreintegratedCombinedMeasurements pim(p, bias);
   const Vector3 measuredAcc = - kGravityAlongNavZDown;
   const Vector3 measuredOmega(0, 0, M_PI / 10.0);
-  const double deltaT = 0.001;
+  const double deltaT = 0.01;
   const double tol = 1e-4;
-  for (int i = 0; i < 1000; ++i)
+  for (int i = 0; i < 100; ++i)
     pim.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
   const CombinedImuFactor Combinedfactor(X(1), V(1), X(2), V(2), B(1), B(2), pim);
 
diff --git a/gtsam/navigation/tests/testImuFactor.cpp b/gtsam/navigation/tests/testImuFactor.cpp
index 48e4dd5e3..46a84ba18 100644
--- a/gtsam/navigation/tests/testImuFactor.cpp
+++ b/gtsam/navigation/tests/testImuFactor.cpp
@@ -18,6 +18,8 @@
  * @author  Stephen Williams
  */
 
+#define ENABLE_TIMING // uncomment for timing results
+
 #include <gtsam/navigation/ImuFactor.h>
 #include <gtsam/navigation/ScenarioRunner.h>
 #include <gtsam/geometry/Pose3.h>
@@ -111,7 +113,7 @@ TEST(ImuFactor, Accelerating) {
   PreintegratedImuMeasurements pim = runner.integrate(T);
   EXPECT(assert_equal(scenario.pose(T), runner.predict(pim).pose(), 1e-9));
 
-  Matrix9 estimatedCov = runner.estimateCovariance(T);
+  Matrix9 estimatedCov = runner.estimateCovariance(T, 100);
   EXPECT(assert_equal(estimatedCov, pim.preintMeasCov(), 0.1));
 }
 
@@ -569,6 +571,7 @@ TEST(ImuFactor, ErrorWithBiasesAndSensorBodyDisplacement) {
 
 /* ************************************************************************* */
 TEST(ImuFactor, PredictPositionAndVelocity) {
+  gttic(PredictPositionAndVelocity);
   Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot)
 
   // Measurements
@@ -597,6 +600,7 @@ TEST(ImuFactor, PredictPositionAndVelocity) {
 
 /* ************************************************************************* */
 TEST(ImuFactor, PredictRotation) {
+  gttic(PredictRotation);
   Bias bias(Vector3(0, 0, 0), Vector3(0, 0, 0)); // Biases (acc, rot)
 
   // Measurements
@@ -623,6 +627,7 @@ TEST(ImuFactor, PredictRotation) {
 
 /* ************************************************************************* */
 TEST(ImuFactor, PredictArbitrary) {
+  gttic(PredictArbitrary);
   Pose3 x1;
   const Vector3 v1(0, 0, 0);
 
@@ -675,6 +680,7 @@ TEST(ImuFactor, PredictArbitrary) {
 
 /* ************************************************************************* */
 TEST(ImuFactor, bodyPSensorNoBias) {
+  gttic(bodyPSensorNoBias);
   Bias bias(Vector3(0, 0, 0), Vector3(0, 0.1, 0)); // Biases (acc, rot)
 
   // Rotate sensor (z-down) to body (same as navigation) i.e. z-up
@@ -716,10 +722,11 @@ TEST(ImuFactor, bodyPSensorNoBias) {
 #include <gtsam/nonlinear/Marginals.h>
 
 TEST(ImuFactor, bodyPSensorWithBias) {
+  gttic(bodyPSensorWithBias);
   using noiseModel::Diagonal;
   typedef Bias Bias;
 
-  int numFactors = 80;
+  int numFactors = 10;
   Vector6 noiseBetweenBiasSigma;
   noiseBetweenBiasSigma << Vector3(2.0e-5, 2.0e-5, 2.0e-5), Vector3(3.0e-6,
       3.0e-6, 3.0e-6);
@@ -899,6 +906,7 @@ TEST(ImuFactor, MergeWithCoriolis) {
 /* ************************************************************************* */
 // Same values as pre-integration test but now testing covariance
 TEST(ImuFactor, CheckCovariance) {
+  gttic(CheckCovariance);
   // Measurements
   Vector3 measuredAcc(0.1, 0.0, 0.0);
   Vector3 measuredOmega(M_PI / 100.0, 0.0, 0.0);
@@ -922,6 +930,10 @@ TEST(ImuFactor, CheckCovariance) {
 /* ************************************************************************* */
 int main() {
   TestResult tr;
-  return TestRegistry::runAllTests(tr);
+  auto result = TestRegistry::runAllTests(tr);
+#ifdef ENABLE_TIMING
+  tictoc_print_();
+#endif
+  return result;
 }
 /* ************************************************************************* */