diff --git a/matlab/unstable_examples/+imuSimulator/coriolisExample.m b/matlab/unstable_examples/+imuSimulator/coriolisExample.m
index 7e3719143..35d27aa73 100644
--- a/matlab/unstable_examples/+imuSimulator/coriolisExample.m
+++ b/matlab/unstable_examples/+imuSimulator/coriolisExample.m
@@ -19,14 +19,14 @@ if ~exist('externalCoriolisConfiguration', 'var')
     clear all
     close all
     %% General configuration
-    navFrameRotating = 0;       % 0 = perform navigation in the fixed frame
+    navFrameRotating = 1;       % 0 = perform navigation in the fixed frame
                                 % 1 = perform navigation in the rotating frame
     IMU_type = 1;               % IMU type 1 or type 2
     useRealisticValues = 1;     % use reaslist values for initial position and earth rotation
     record_movie = 0;           % 0 = do not record movie
                                 % 1 = record movie of the trajectories. One
                                 % frame per time step (15 fps)
-    incrementalPlotting = 0;    % turn incremental plotting on and off. Turning plotting off increases
+    incrementalPlotting = 1;    % turn incremental plotting on and off. Turning plotting off increases
                                 % speed for batch testing
     estimationEnabled = 1;
 
@@ -70,7 +70,6 @@ if ~exist('externalCoriolisConfiguration', 'var')
 end
 
 
-
 % From Wikipedia Angular Velocity page, dr/dt = W*r, where r is
 % position vector and W is angular velocity tensor
 % We add the initial velocity in the rotating frame because they
diff --git a/matlab/unstable_examples/+imuSimulator/coriolisTestMonteCarlo.m b/matlab/unstable_examples/+imuSimulator/coriolisTestMonteCarlo.m
index 0a26bd760..4d02fd03e 100644
--- a/matlab/unstable_examples/+imuSimulator/coriolisTestMonteCarlo.m
+++ b/matlab/unstable_examples/+imuSimulator/coriolisTestMonteCarlo.m
@@ -2,7 +2,7 @@ clc
 clear all
 close all
 
-% Flag to mark external configuration
+% Flag to mark external configuration to the main test script
 externalCoriolisConfiguration = 1;
 
 %% General configuration
@@ -49,6 +49,7 @@ else
     initialVelocity = [0;0;0];  % initial velocity in the rotating frame (ignoring the velocity due to the frame's rotation)
 end
 
+%%
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 % Run tests with randomly generated initialPosition and accelFixed values
@@ -60,12 +61,13 @@ end
 %   - Navigation performed in rotating frame, ignoring coriolis effect
 %
 
-%% Testing configuration
-numPosTests = 10;
-numAccelTests = 20;
+% Testing configuration
+numPosTests = 1;
+numAccelTests = 10;
 totalNumTests = numPosTests * numAccelTests;
 
 % Storage variables
+
 posFinErrorFixed = zeros(numPosTests, numAccelTests);
 rotFinErrorFixed = zeros(numPosTests, numAccelTests);
 velFinErrorFixed = zeros(numPosTests, numAccelTests);
@@ -82,6 +84,7 @@ velFinErrorRot = zeros(numPosTests, numAccelTests);
 numErrors = 0;
 testIndPos = 1;
 testIndAccel = 1;
+
 while testIndPos <= numPosTests
     %generate a random initial position vector
     initialLongitude = rand()*360 - 180;    % longitude in degrees (-90 to 90)
@@ -95,6 +98,16 @@ while testIndPos <= numPosTests
         % generate a random acceleration vector
         accelFixed = 2*rand(3,1)-ones(3,1);
         
+        %lla = oldTestInfo(testIndPos,testIndAccel).initialPositionLLA;
+        %initialLongitude = lla(1);
+        %initialLatitude = lla(2);
+        %initialAltitude = lla(3);
+        %initialPosition = oldTestInfo(testIndPos, testIndAccel).initialPositionECEF;
+        
+        testInfo(testIndPos, testIndAccel).initialPositionLLA = [initialLongitude, initialLatitude, initialAltitude]; 
+        testInfo(testIndPos, testIndAccel).initialPositionECEF = initialPosition;
+        testInfo(testIndPos, testIndAccel).accelFixed = accelFixed;
+        
         try
             omegaCoriolisIMU = [0;0;0];
             navFrameRotating = 0;
@@ -102,6 +115,12 @@ while testIndPos <= numPosTests
             posFinErrorFixed(testIndPos, testIndAccel) = norm(axisPositionsError(:,end))/trajectoryLengthFixedFrameGT*100;
             rotFinErrorFixed(testIndPos, testIndAccel) = norm(rotationsErrorVectors(:,end));
             velFinErrorFixed(testIndPos, testIndAccel) =  norm(axisVelocityError(:,end));
+            testInfo(testIndPos, testIndAccel).fixedPositionError = axisPositionsError(:,end);
+            testInfo(testIndPos, testIndAccel).fixedVelocityError = axisVelocityError(:,end);
+            testInfo(testIndPos, testIndAccel).fixedRotationError = rotationsErrorVectors(:,end);
+            testInfo(testIndPos, testIndAccel).fixedEstTrajLength = trajectoryLengthEstimated;
+            testInfo(testIndPos, testIndAccel).trajLengthFixedFrameGT = trajectoryLengthFixedFrameGT;
+            testInfo(testIndPos, testIndAccel).trajLengthRotFrameGT = trajectoryLengthRotatingFrameGT;
             
             close all;
             
@@ -113,6 +132,10 @@ while testIndPos <= numPosTests
             posFinErrorRotCoriolis(testIndPos, testIndAccel) = norm(axisPositionsError(:,end))/trajLen*100;
             rotFinErrorRotCoriolis(testIndPos, testIndAccel) = norm(rotationsErrorVectors(:,end));
             velFinErrorRotCoriolis(testIndPos, testIndAccel) =  norm(axisVelocityError(:,end));
+            testInfo(testIndPos, testIndAccel).rotCoriolisPositionError = axisPositionsError(:,end);
+            testInfo(testIndPos, testIndAccel).rotCoriolisVelocityError = axisVelocityError(:,end);
+            testInfo(testIndPos, testIndAccel).rotCoriolisRotationError = rotationsErrorVectors(:,end);
+            testInfo(testIndPos, testIndAccel).rotCoriolisEstTrajLength = trajectoryLengthEstimated;
             
             close all;
             
@@ -124,6 +147,10 @@ while testIndPos <= numPosTests
             posFinErrorRot(testIndPos, testIndAccel) = norm(axisPositionsError(:,end))/trajLen*100;
             rotFinErrorRot(testIndPos, testIndAccel) = norm(rotationsErrorVectors(:,end));
             velFinErrorRot(testIndPos, testIndAccel) =  norm(axisVelocityError(:,end));
+            testInfo(testIndPos, testIndAccel).rotPositionError = axisPositionsError(:,end);
+            testInfo(testIndPos, testIndAccel).rotVelocityError = axisVelocityError(:,end);
+            testInfo(testIndPos, testIndAccel).rotRotationError = rotationsErrorVectors(:,end);
+            testInfo(testIndPos, testIndAccel).rotEstTrajLength = trajectoryLengthEstimated;
             
             close all;
         catch