diff --git a/assets/gabe_almost_getting_run_over.mov b/assets/gabe_almost_getting_run_over.mov
new file mode 100644
index 0000000..01f0b96
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diff --git a/assets/nviz.png b/assets/nviz.png
new file mode 100644
index 0000000..312e0cf
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diff --git a/design-template.html b/design-template.html
index ef2c4f6..6f2de8f 100644
--- a/design-template.html
+++ b/design-template.html
@@ -39,11 +39,11 @@ <h1 class="text-7xl font-bold">Template for Design Page</h1>
 
     <!-- Feature Section --> 
     <section class="flex max-w-screen-2xl mx-auto">
-        <div class="flex bg-gray-300 items-center w-full min-h-52">
+        <div class="flex flex-col md:flex-row bg-gray-300 items-center w-full min-h-52">
             <div class="self-start">
                 <div class="rounded-full bg-gray-400 m-10 h-8 w-8"></div>
             </div>
-            <div>
+            <div class="mx-8 md:mx-0">
                 <h3 class="text-xl font-bold">Information About Certain System</h3>
                 <p class="text-gray-700">Very Long Blurb with Information. Very Long Blurb with Information. Very Long Blurb with Information. Very Long Blurb with Information. Very Long Blurb with Information. Very Long Blurb with Information. </p>
             </div>
@@ -54,11 +54,11 @@ <h3 class="text-xl font-bold">Information About Certain System</h3>
     </section>
 
     <section class="flex max-w-screen-2xl mx-auto">
-        <div class="flex bg-gray-400 rounded-lg items-center w-full min-h-52">
+        <div class="flex flex-col md:flex-row bg-gray-400 rounded-lg items-center w-full min-h-52">
             <div class="self-start">
                 <div class="rounded-full bg-gray-300 m-10 h-8 w-8"></div>
             </div>
-            <div>
+            <div class="mx-8 md:mx-0">
                 <h3 class="text-xl font-bold">Information About Certain System</h3>
                 <p class="text-gray-700">Very Long Blurb with Information. Very Long Blurb with Information. Very Long Blurb with Information. Very Long Blurb with Information. Very Long Blurb with Information. Very Long Blurb with Information. </p>
             </div>
@@ -69,11 +69,11 @@ <h3 class="text-xl font-bold">Information About Certain System</h3>
     </section>
 
     <section class="flex max-w-screen-2xl mx-auto">
-        <div class="flex bg-gray-300 items-center w-full min-h-52">
+        <div class="flex flex-col md:flex-row bg-gray-300 items-center w-full min-h-52">
             <div class="self-start">
                 <div class="rounded-full bg-gray-400 m-10 h-8 w-8"></div>
             </div>
-            <div>
+            <div class="mx-8 md:mx-0">
                 <h3 class="text-xl font-bold">Information About Certain System</h3>
                 <p class="text-gray-700">Very Long Blurb with Information. Very Long Blurb with Information. Very Long Blurb with Information. Very Long Blurb with Information. Very Long Blurb with Information. Very Long Blurb with Information. </p>
             </div>
@@ -84,11 +84,11 @@ <h3 class="text-xl font-bold">Information About Certain System</h3>
     </section>
 
     <section class="flex max-w-screen-2xl mx-auto">
-        <div class="flex bg-gray-400 rounded-lg items-center w-full min-h-52">
+        <div class="flex flex-col md:flex-row bg-gray-400 rounded-lg items-center w-full min-h-52">
             <div class="self-start">
                 <div class="rounded-full bg-gray-300 m-10 h-8 w-8"></div>
             </div>
-            <div>
+            <div class="mx-8 md:mx-0">
                 <h3 class="text-xl font-bold">Information About Certain System</h3>
                 <p class="text-gray-700">Very Long Blurb with Information. Very Long Blurb with Information. Very Long Blurb with Information. Very Long Blurb with Information. Very Long Blurb with Information. Very Long Blurb with Information. </p>
             </div>
@@ -109,8 +109,8 @@ <h3 class="text-xl font-bold">Information About Certain System</h3>
             <h2 class="text-3xl font-bold font-light mb-6 px-10">Learn More</h2>
         </div>
     </section>
-    <section class="max-w-6xl mx-auto pb-16 bg-gray-300 flex justify-center text-center">    
-        <div class="bg-gray-400 p-6 mx-10 rounded-md shadow-md flex flex-col items-center basis-1/4">
+    <section class="max-w-6xl mx-auto pb-16 bg-gray-300 flex flex-wrap gap-y-4 justify-center text-center">    
+        <div class="bg-gray-400 p-6 mx-10 rounded-md shadow-md flex flex-col items-center basis-60">
             <div class="text-4xl mb-4">
                 <img src="./assets/settings.png" alt="Mechanical Design Icon" class="h-10 w-10"/>
             </div>
@@ -118,7 +118,7 @@ <h3 class="text-lg font-semibold mb-4">Mechanical Design</h3>
             <a href="vehicle/mechanical.html" class="bg-gray-200 text-gray-800 px-4 py-2 border-2 border-gray-200 rounded-md hover:text-white hover:bg-gray-400 transition-all duration-300">Learn More</a>
         </div>
 
-        <div class="bg-gray-400 p-6 mx-10 rounded-md shadow-md flex flex-col items-center basis-1/4">
+        <div class="bg-gray-400 p-6 mx-10 rounded-md shadow-md flex flex-col items-center basis-60">
             <div class="text-4xl mb-4">
                 <img src="./assets/keyboard.png" alt="Software Design Icon" class="h-10 w-10"/>
             </div>
@@ -126,7 +126,7 @@ <h3 class="text-lg font-semibold mb-4">Software Design</h3>
             <a href="vehicle/software.html" class="bg-gray-200 text-gray-800 px-4 py-2 border-2 border-gray-200 rounded-md hover:text-white hover:bg-gray-400 transition-all duration-300">Learn More</a>
         </div>
 
-        <div class="bg-gray-400 p-6 mx-10 rounded-md shadow-md flex flex-col items-center basis-1/4">
+        <div class="bg-gray-400 p-6 mx-10 rounded-md shadow-md flex flex-col items-center basis-60">
             <div class="text-4xl mb-4">
                 <img src="./assets/circuit.png" alt="Electrical Design Icon" class="h-10 w-10"/>
             </div>
diff --git a/vehicle.html b/vehicle.html
index f0c40b2..c3c56f4 100644
--- a/vehicle.html
+++ b/vehicle.html
@@ -136,7 +136,7 @@ <h2 class="text-xl text-gray-500 mb-5 font-light" style="margin-top: -10px;">V20
                         </div>
                         <div class="info-box hover-line" data-line="line5" style="top: 88%; left: -2%">
                             Propulsion Systems                        
-                            <div class="info-blurb">NaviGator contains 2 stern thrusters and 2 bow thrusters, ready to speed us through all 8 tasks!</div>
+                            <div class="info-blurb">NaviGator contains 2 stern thrusters and 2 bow thrusters, ready to speed us through all 9 tasks!</div>
                         </div>
                         <div class="info-box hover-line" data-line="line6" style="top: 88%; left: 72%">
                             Stereo Camera
@@ -169,7 +169,7 @@ <h3 class="text-xl font-semibold">GPS Antenna</h3>
                     <!-- Info Box 5 -->
                     <div class="p-4 bg-gray-500 rounded-lg text-white">
                         <h3 class="text-xl font-semibold">Propulsion Systems</h3>
-                        <p>NaviGator contains 2 stern thrusters and 2 bow thrusters, ready to speed us through all 8 tasks!</p>
+                        <p>NaviGator contains 2 stern thrusters and 2 bow thrusters, ready to speed us through all 9 tasks!</p>
                     </div>
                     <!-- Info Box 6 -->
                     <div class="p-4 bg-gray-500 rounded-lg text-white">
@@ -209,45 +209,77 @@ <h3 class="text-xl font-semibold">Stereo Camera</h3>
         </div>
     </section>
 
-    <section class="flex max-w-6xl p-6 mx-auto">
+    <section class="flex max-w-5xl p-6 mx-auto">
         <div class="flex bg-gray-400 rounded-lg items-center w-full min-h-52">
             <div class="self-start">
-                <div class="rounded-full bg-gray-300 m-10 h-8 w-8"></div>
+                <div class="rounded-full bg-gray-300 mt-10 ml-10 mr-6 h-8 w-8"></div>
             </div>
             <div class = "flex flex-col p-4">
                 <h3 class="text-2xl font-light">Full Specifications</h3>
-                <div class = "flex space-x-6">
-                    <div class = "flex flex-col">
+                <div class = "grid lg:grid-cols-4 md:grid-cols-3 sm:grid-cols-2 gap-6">
+                    <div class = "flex flex-col break-words">
                         <p class="font-bold"> Example Category </p>
                         <p class="text-gray-700">Example Specification.</p>
                         <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
+                    </div>
+                    <div class = "flex flex-col break-words">
                         <p class="font-bold"> Example Category </p>
                         <p class="text-gray-700">Example Specification.</p>
                         <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification that is really really long.</p>
+                        <p class="text-gray-700">Example Specification.</p>
                         <p class="text-gray-700">Example Specification.</p>
                     </div>
-                    <div class = "flex flex-col">
+                    <div class = "flex flex-col break-words">
                         <p class="font-bold"> Example Category </p>
                         <p class="text-gray-700">Example Specification.</p>
                         <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
+                    </div>
+                    <div class = "flex flex-col break-words">
                         <p class="font-bold"> Example Category </p>
                         <p class="text-gray-700">Example Specification.</p>
                         <p class="text-gray-700">Example Specification.</p>
                         <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
                     </div>
-                    <div class = "flex flex-col">
+                    <div class="flex flex-col break-words">
                         <p class="font-bold"> Example Category </p>
                         <p class="text-gray-700">Example Specification.</p>
                         <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
+                    </div>
+                    <div class="flex flex-col break-words">
                         <p class="font-bold"> Example Category </p>
                         <p class="text-gray-700">Example Specification.</p>
                         <p class="text-gray-700">Example Specification.</p>
                         <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
                     </div>
-                    <div class = "flex flex-col">
+                    <div class="flex flex-col break-words">
                         <p class="font-bold"> Example Category </p>
                         <p class="text-gray-700">Example Specification.</p>
                         <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
+                    </div>
+                    <div class="flex flex-col break-words">
+                        <p class="font-bold"> Example Category </p>
+                        <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
+                        <p class="text-gray-700">Example Specification.</p>
                     </div>
                 </div>
             </div>
@@ -260,8 +292,8 @@ <h3 class="text-2xl font-light">Full Specifications</h3>
             <h2 class="text-3xl font-bold font-light mb-6 px-10 pt-2">Learn about NaviGator's Subsystems!</h2>
         </div>
     </section>
-    <section class="max-w-6xl mx-auto pb-16 bg-gray-300 flex justify-center text-center">    
-        <div class="bg-gray-400 p-6 mx-10 rounded-md shadow-md flex flex-col items-center basis-1/5">
+    <section class="max-w-6xl mx-auto pb-16 bg-gray-300 flex flex-wrap gap-y-4 justify-center text-center">    
+        <div class="bg-gray-400 p-6 mx-10 rounded-md shadow-md flex flex-col items-center basis-60">
             <div class="text-4xl mb-4">
                 <img src="./assets/settings.png" alt="Mechanical Design Icon" class="h-10 w-10"/>
             </div>
@@ -269,7 +301,7 @@ <h3 class="text-lg font-semibold mb-4">Mechanical Design</h3>
             <a href="vehicle/mechanical.html" class="bg-gray-200 text-gray-800 px-4 py-2 border-2 border-gray-200 rounded-md hover:text-white hover:bg-gray-400 transition-all duration-300">Learn More</a>
         </div>
 
-        <div class="bg-gray-400 p-6 mx-10 rounded-md shadow-md flex flex-col items-center basis-1/5">
+        <div class="bg-gray-400 p-6 mx-10 rounded-md shadow-md flex flex-col items-center basis-60">
             <div class="text-4xl mb-4">
                 <img src="./assets/keyboard.png" alt="Software Design Icon" class="h-10 w-10"/>
             </div>
@@ -277,7 +309,7 @@ <h3 class="text-lg font-semibold mb-4">Software Design</h3>
             <a href="vehicle/software.html" class="bg-gray-200 text-gray-800 px-4 py-2 border-2 border-gray-200 rounded-md hover:text-white hover:bg-gray-400 transition-all duration-300">Learn More</a>
         </div>
 
-        <div class="bg-gray-400 p-6 mx-10 rounded-md shadow-md flex flex-col items-center basis-1/5">
+        <div class="bg-gray-400 p-6 mx-10 rounded-md shadow-md flex flex-col items-center basis-60">
             <div class="text-4xl mb-4">
                 <img src="./assets/circuit.png" alt="Electrical Design Icon" class="h-10 w-10"/>
             </div>
@@ -302,13 +334,15 @@ <h2 class="text-3xl font-bold font-light mb-6 px-10">The NaviGator Process</h2>
                 <div>
                     <div class="rounded-full bg-gray-500 h-8 w-8"></div>
                 </div>
-                <div class="ml-8">
-                    <p class="text-sm text-gray-500">April 2022</p>
-                    <h3 class="text-xl font-bold">VRX 2022</h3>
-                    <p class="text-gray-600">In 2022 Team NaviGator competed in the Virtual RobotX competition, which is like the RobotX competition but all online, winning 2nd place! With the lessons learned from VRX 2022, we began to build the foundational code for future RobotX competitions.</p>
-                </div>
-                <div class="ml-8">
-                    <img src="./assets/vrx-2023.webp" alt="NaviGator AMS Logo"">
+                <div class="flex flex-col md:flex-row items-center">
+                    <div class="ml-8 mb-4">
+                        <p class="text-sm text-gray-500">April 2022</p>
+                        <h3 class="text-xl font-bold">VRX 2022</h3>
+                        <p class="text-gray-600">In 2022 Team NaviGator competed in the Virtual RobotX competition, which is like the RobotX competition but all online, winning 2nd place! With the lessons learned from VRX 2022, we began to build the foundational code for future RobotX competitions.</p>
+                    </div>
+                    <div class="ml-8 flex items-center">
+                        <img class="rounded-lg" src="./assets/vrx-2023.webp" alt="VRX Sim Image"">
+                    </div>
                 </div>
             </div>
     
@@ -316,16 +350,16 @@ <h3 class="text-xl font-bold">VRX 2022</h3>
                 <div class="">
                     <div class="rounded-full bg-gray-500 h-8 w-8"></div>
                 </div>
-                <div class="flex flex-col items-center mx-8">
-                    <div class="mb-8">
+                <div class="flex flex-col items-center ml-8">
+                    <div class="mb-4">
                         <p class="text-sm text-gray-500">September 9th 2024</p>
                         <h3 class="text-xl font-bold">Testing Log 1: Initial Assembly and Lake Testing</h3>
                         <p class="text-gray-600"> With the RobotX 2024 competition no more than 2 months away we decided we needed to start testing now. On September 9th 2024 we embarked on the first testing session of the new school year! In the morning, we finished assembling the boat, including mechanically mounting several sensors and the computer box, securing electrical connections inside the computer box, and distributing outbound wires from the computer box to their respective sensors/actuators. Around 1, we wheeled NaviGator outside and hitched it to the ECE truck. We successfully drove it to Lake Wauburg and backed it down the driveway to the boat ramp. We deployed it, and after working through some computer issues, got the boat to move using odometry and the path planner.
                             We will be testing next Sunday. This week, we aim to finish code for several missions, add further reliability to our software systems, work on new electrical boards for the light tower and RF kill, and build props used for testing missions in the water. 
                         </p>
                     </div>
-                    <video width="400" controls>
-                        <source src="https://cdn.discordapp.com/attachments/1241253008122314832/1282496839534383154/IMG_4889.mov?ex=66fd3b82&is=66fbea02&hm=60c05cd7cfe648cb2feee4741564eb391db686fa9052ba0836c9f633565a3e08" type="video/mp4">
+                    <video class="rounded-lg w-full" controls>
+                        <source src="assets/gabe_almost_getting_run_over.mov" type="video/mp4">
                         Your browser does not support the video tag.
                     </video>
                 </div>                
@@ -357,28 +391,46 @@ <h3 class="text-xl font-bold">Testing Log 3: Trajectory Planning and Camera Data
                 </div>
             </div>
 
-            <div class="mb-8 flex ">
+            <div class="mb-8 flex">
                 <div>
                     <div class="rounded-full bg-gray-500 h-8 w-8"></div>
                 </div>
-                <div class="ml-8">
-                    <p class="text-sm text-gray-500">September 29th 2024</p>
-                    <h3 class="text-xl font-bold">Testing Log 4: Enemy Filtering and Wildlife Mission Testing</h3>
-                    <p class="text-gray-600">Unfortunately due to the hurricane and its impact on Florida, Lake Wauburg (our usual testing site) was without power today and therefore closed. After working together to find some other lakes to test in, we settled on a lake in Marion County named Orange Lake. After configuring the LIDAR bounds to work at the new lake, we got started with testing. The enemy filter (aka, filtering out non-useful LIDAR points in front of the boat) worked better, but we were still encountering a lot of issues with the LIDAR and the underwater weeds, which rose near the surface of the lake. We think that the changes to the LIDAR filter will work at Wauburg, where the weeds aren't as high and the light is the main deterrent in getting an accurate object map of the environment. Nonetheless, we recorded some data to analyze later, to try to further improve the filtering of the LIDAR. We also briefly tested the wildlife mission, and found some ways to improve it. Thanks to everyone who came!</p>
+                <div class="flex flex-col items-center ml-8">
+                    <div class="mb-4">
+                        <p class="text-sm text-gray-500">September 29th 2024</p>
+                        <h3 class="text-xl font-bold">Testing Log 4: Enemy Filtering and Wildlife Mission Testing</h3>
+                        <p class="text-gray-600">Unfortunately due to the hurricane and its impact on Florida, Lake Wauburg (our usual testing site) was without power today and therefore closed. After working together to find some other lakes to test in, we settled on a lake in Marion County named Orange Lake. After configuring the LIDAR bounds to work at the new lake, we got started with testing. The enemy filter (aka, filtering out non-useful LIDAR points in front of the boat) worked better, but we were still encountering a lot of issues with the LIDAR and the underwater weeds, which rose near the surface of the lake. We think that the changes to the LIDAR filter will work at Wauburg, where the weeds aren't as high and the light is the main deterrent in getting an accurate object map of the environment. Nonetheless, we recorded some data to analyze later, to try to further improve the filtering of the LIDAR. We also briefly tested the wildlife mission, and found some ways to improve it. Thanks to everyone who came!</p>
+                    </div>
+                    <div class="w-full flex items-center">
+                        <img class="rounded-lg" src="./assets/testing_fbi_van.jpg" alt="Navigator Testing Van">
+                    </div>
                 </div>
-                <div class="ml-8 flex items-center">
-                    <img src="./assets/testing_fbi_van.jpg" alt="NaviGator AMS Logo"">
+            </div>
+
+            <div class="mb-8 flex">
+                <div>
+                    <div class="rounded-full bg-gray-500 h-8 w-8"></div>
+                </div>
+                <div class="flex flex-col md:flex-row items-center">
+                    <div class="basis-[70%] ml-8 mb-4">
+                        <p class="text-sm text-gray-500">October 2nd 2024</p>
+                        <h3 class="text-xl font-bold">Testing Log 5: Enemy Filtering Part 2 and PID Tuning</h3>
+                        <p class="text-gray-600">Testing today was good! We showed up at Wauburg right at 12, and left right at 6. Today, we fixed the enemies issue by implementing a secondary point cloud filter to filter out low intensity points. Often times, light reflecting on the surface of the water would be relatively low intensity, so this filter worked great (the red points in the filter are the light reflecting off the surface of the water at the LIDAR, which are filtered out/not collected into a box, like the rainbow points and box representing a kayak). We collected some more image data, and investigated the path planner and PID controller a little bit. The boat is oscillating back and forth quite a bit when trying to align itself with a goal sometimes, which will make some complicated movements harder. We also worked on the bounds, and tested the blind path planner (which worked more consistently). Also, daniel and i (cameron) fell in the water lol.</p>
+                    </div>
+                    <div class="ml-8 flex items-center">
+                        <img class="rounded-lg" src="./assets/nviz.png" alt="Nviz Image">
+                    </div>
                 </div>
             </div>
 
-            <div class="mb-8 flex ">
+            <div class="mb-8 flex">
                 <div>
                     <div class="rounded-full bg-gray-500 h-8 w-8"></div>
                 </div>
                 <div class="ml-8">
                     <p class="text-sm text-gray-500">Until November 2024</p>
                     <h3 class="text-xl font-bold">More Testing</h3>
-                    <p class="text-gray-600">As of October 1st, 2024 this is all of the testing we've done, but we have many more sessions planned, and will update the website when we do them!</p>
+                    <p class="text-gray-600">As of October 5th, 2024 this is all of the testing we've done, but we have many more sessions planned, and will update the website when we do them!</p>
                 </div>
             </div>
         </div>