diff --git a/gtsam/navigation/tests/testNavState.cpp b/gtsam/navigation/tests/testNavState.cpp
index b05a8a3e5..a62ca06a8 100644
--- a/gtsam/navigation/tests/testNavState.cpp
+++ b/gtsam/navigation/tests/testNavState.cpp
@@ -194,23 +194,31 @@ TEST( NavState, Lie ) {
 
 /* ************************************************************************* */
 TEST(NavState, Update) {
-  const Vector3 omega(M_PI / 100.0, 0.0, 0.0);
-  const Vector3 acc(0.1, 0.0, 0.0);
-  const double deltaT = 10;
+  Vector3 omega(M_PI / 100.0, 0.0, 0.0);
+  Vector3 acc(0.1, 0.0, 0.0);
+  double dt = 10;
   Matrix9 aF;
   Matrix93 aG1, aG2;
   boost::function<NavState(const NavState&, const Vector3&, const Vector3&)> update =
-      boost::bind(&NavState::update, _1, _2, _3, deltaT, boost::none,
+      boost::bind(&NavState::update, _1, _2, _3, dt, boost::none,
           boost::none, boost::none);
   Vector3 b_acc = kAttitude * acc;
-  NavState expected(kAttitude.expmap(deltaT * omega),
-      kPosition + Point3((kVelocity + b_acc * deltaT / 2) * deltaT),
-      kVelocity + b_acc * deltaT);
-  NavState actual = kState1.update(acc, omega, deltaT, aF, aG1, aG2);
+  NavState expected(kAttitude.expmap(dt * omega),
+      kPosition + Point3((kVelocity + b_acc * dt / 2) * dt),
+      kVelocity + b_acc * dt);
+  NavState actual = kState1.update(acc, omega, dt, aF, aG1, aG2);
   EXPECT(assert_equal(expected, actual));
   EXPECT(assert_equal(numericalDerivative31(update, kState1, acc, omega, 1e-7), aF, 1e-7));
   EXPECT(assert_equal(numericalDerivative32(update, kState1, acc, omega, 1e-7), aG1, 1e-7));
   EXPECT(assert_equal(numericalDerivative33(update, kState1, acc, omega, 1e-7), aG2, 1e-7));
+
+  // Try different values
+  omega = Vector3(0.1, 0.2, 0.3);
+  acc = Vector3(0.4, 0.5, 0.6);
+  kState1.update(acc, omega, dt, aF, aG1, aG2);
+  EXPECT(assert_equal(numericalDerivative31(update, kState1, acc, omega, 1e-7), aF, 1e-7));
+  EXPECT(assert_equal(numericalDerivative32(update, kState1, acc, omega, 1e-7), aG1, 1e-7));
+  EXPECT(assert_equal(numericalDerivative33(update, kState1, acc, omega, 1e-7), aG2, 1e-7));
 }
 
 /* ************************************************************************* */