diff --git a/OpenSim/Common/XsensDataReader.cpp b/OpenSim/Common/XsensDataReader.cpp
index 09adec7112..4b8de37794 100644
--- a/OpenSim/Common/XsensDataReader.cpp
+++ b/OpenSim/Common/XsensDataReader.cpp
@@ -4,6 +4,7 @@
 #include "Exception.h"
 #include "FileAdapter.h"
 #include "TimeSeriesTable.h"
+#include <vector>
 #include "XsensDataReader.h"
 
 namespace OpenSim {
@@ -11,7 +12,7 @@ namespace OpenSim {
 template <typename T>
 std::vector<T> uniformTimeSamples(const T offset, const T step_size, const int numEl) {
     std::vector<int> ivec(numEl);
-    std::iota(ivec.begin(), ivec.end(), 0); // ivec will become: [0..99]
+    std::iota(ivec.begin(), ivec.end(), 0); // ivec will become: [0..numEl]
     std::vector<T> output(ivec.size());
     std::transform(ivec.begin(), ivec.end(), output.begin(),
                    [step_size, offset](int value) {
@@ -45,8 +46,6 @@ XsensDataReader::extendRead(const std::string& folderName) const {
     SimTK::Matrix_<SimTK::Vec3> linearAccelerationData{ last_size, n_imus };
     SimTK::Matrix_<SimTK::Vec3> magneticHeadingData{ last_size, n_imus };
     SimTK::Matrix_<SimTK::Vec3> angularVelocityData{ last_size, n_imus };
-    std::vector<double> times;
-    times.resize(last_size);
     
     std::string prefix = _settings.get_trial_prefix();
     std::map<std::string, std::string> headersKeyValuePairs;
@@ -109,7 +108,6 @@ XsensDataReader::extendRead(const std::string& folderName) const {
     // For all tables, will create row, stitch values from different files then append,time and timestep
     // are based on the first file
     bool done = false;
-    // int time = 0.0;
     int rowNumber = 0;
     while (!done){
         // Make vectors one per table
@@ -121,7 +119,7 @@ XsensDataReader::extendRead(const std::string& folderName) const {
             magneto_row_vector{ n_imus, SimTK::Vec3(SimTK::NaN) };
         TimeSeriesTableVec3::RowVector
             gyro_row_vector{ n_imus, SimTK::Vec3(SimTK::NaN) };
-        // Cycle through the filles collating values
+        // Cycle through the files collating values
         int imu_index = 0;
         for (std::vector<std::ifstream*>::iterator it = imuStreams.begin();
             it != imuStreams.end();
@@ -158,7 +156,6 @@ XsensDataReader::extendRead(const std::string& folderName) const {
         if (done) 
             break;
         // append to the tables
-        // times[rowNumber] = time;
         if (foundLinearAccelerationData) 
             linearAccelerationData[rowNumber] =  accel_row_vector;
         if (foundMagneticHeadingData) 
@@ -166,12 +163,10 @@ XsensDataReader::extendRead(const std::string& folderName) const {
         if (foundAngularVelocityData) 
             angularVelocityData[rowNumber] = gyro_row_vector;
         rotationsData[rowNumber] = orientation_row_vector;
-        // time += timeIncrement;
         rowNumber++;
         if (std::remainder(rowNumber, last_size) == 0) {
             // resize all Data/Matrices, double the size  while keeping data
             int newSize = last_size*2;
-            // times.resize(newSize);
             // Repeat for Data matrices in use
             if (foundLinearAccelerationData) linearAccelerationData.resizeKeep(newSize, n_imus);
             if (foundMagneticHeadingData) magneticHeadingData.resizeKeep(newSize, n_imus);
@@ -181,9 +176,7 @@ XsensDataReader::extendRead(const std::string& folderName) const {
         }
     }
     double timeIncrement = 1 / dataRate;
-    const auto time_vec = uniformTimeSamples(0.0, timeIncrement, rowNumber);
-    // Trim Matrices in use to actual data and move into tables
-    // times.resize(rowNumber);
+    const std::vector<double> times = uniformTimeSamples(0.0, timeIncrement, rowNumber);
     // Repeat for Data matrices in use and create Tables from them or size 0 for empty
     linearAccelerationData.resizeKeep(foundLinearAccelerationData? rowNumber : 0,
         n_imus);
@@ -196,7 +189,7 @@ XsensDataReader::extendRead(const std::string& folderName) const {
     // Now create the tables from matrices
     // Create 4 tables for Rotations, LinearAccelerations, AngularVelocity, MagneticHeading
     // Tables could be empty if data is not present in file(s)
-    DataAdapter::OutputTables tables = createTablesFromMatrices(dataRate, labels, time_vec,
+    DataAdapter::OutputTables tables = createTablesFromMatrices(dataRate, labels, times,
         rotationsData, linearAccelerationData, magneticHeadingData, angularVelocityData);
     return tables;
 }