diff --git a/code/Rover_Project_Test_Notebook.ipynb b/code/Rover_Project_Test_Notebook.ipynb
index 40b7741980..6168bbfeb9 100644
--- a/code/Rover_Project_Test_Notebook.ipynb
+++ b/code/Rover_Project_Test_Notebook.ipynb
@@ -92,7 +92,7 @@
           "execution_count": 3,
           "data": {
             "text/plain": [
-              "<matplotlib.image.AxesImage at 0x111d1bc18>"
+              "<matplotlib.image.AxesImage at 0x111d09c50>"
             ]
           },
           "metadata": {}
@@ -100,1663 +100,1440 @@
         {
           "output_type": "display_data",
           "data": {
+            "text/plain": [
+              "<matplotlib.figure.Figure at 0x10f50fcc0>"
+            ],
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             ]
           },
           "metadata": {}
@@ -1800,7 +1577,7 @@
           "execution_count": 4,
           "data": {
             "text/plain": [
-              "<matplotlib.image.AxesImage at 0x1125e8588>"
+              "<matplotlib.image.AxesImage at 0x11256e470>"
             ]
           },
           "metadata": {}
@@ -1808,6 +1585,9 @@
         {
           "output_type": "display_data",
           "data": {
+            "text/plain": [
+              "<matplotlib.figure.Figure at 0x111d1a208>"
+            ],
             "image/png": [
               "iVBORw0KGgoAAAANSUhEUgAAA9YAAAEBCAYAAACdTT0MAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\n",
               "AAAPYQAAD2EBqD+naQAAIABJREFUeJzsvVmMZkl2HvZF3OVfcq2lu2cjOWRzmhwRhE0TlkQttgE+\n",
@@ -4216,9 +3996,6 @@
               "FBQUFBTsAIVYFxQUFBQUFBQUFBQUFBTsAIVYFxQUFBQUFBQUFBQUFBTsAIVYFxQUFBQUFBQUFBQU\n",
               "FBTsAIVYFxQUFBQUFBQUFBQUFBTsAIVYFxQUFBQUFBQUFBQUFBTsAIVYFxQUFBQUFBQUFBQUFBTs\n",
               "AIVYFxQUFBQUFBQUFBQUFBTsAP8fZHcfHs2hkgUAAAAASUVORK5CYII=\n"
-            ],
-            "text/plain": [
-              "<matplotlib.figure.Figure at 0x10fb14fd0>"
             ]
           },
           "metadata": {}
@@ -4276,7 +4053,7 @@
           "execution_count": 5,
           "data": {
             "text/plain": [
-              "<matplotlib.image.AxesImage at 0x11298a6a0>"
+              "<matplotlib.image.AxesImage at 0x112951550>"
             ]
           },
           "metadata": {}
@@ -4284,6 +4061,9 @@
         {
           "output_type": "display_data",
           "data": {
+            "text/plain": [
+              "<matplotlib.figure.Figure at 0x112758da0>"
+            ],
             "image/png": [
               "iVBORw0KGgoAAAANSUhEUgAAAgUAAAEWCAYAAAD2NuSlAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\n",
               "AAAPYQAAD2EBqD+naQAAIABJREFUeJzsvVvMZdl2HvSNOdf+q7r7nJODbOucIESwCIrJE8gEZJGA\n",
@@ -5681,9 +5461,6 @@
               "H8hztIO5qYHfHTlvzt5HTzRHfh8pwOfTdU+mebiYZBDsT/eQt052HMdxHAfYx3MKHMdxHMfZe7hR\n",
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               "o8BxHMdxnIQbBY7jOI7jAG4UOI7jOI6TcKPAcRzHcRwA/j8J75hzo47LNAAAAABJRU5ErkJggg==\n"
-            ],
-            "text/plain": [
-              "<matplotlib.figure.Figure at 0x1126a58d0>"
             ]
           },
           "metadata": {}
@@ -5735,7 +5512,7 @@
           "execution_count": 6,
           "data": {
             "text/plain": [
-              "<matplotlib.image.AxesImage at 0x112b81668>"
+              "<matplotlib.image.AxesImage at 0x112b1b518>"
             ]
           },
           "metadata": {}
@@ -5743,6 +5520,9 @@
         {
           "output_type": "display_data",
           "data": {
+            "text/plain": [
+              "<matplotlib.figure.Figure at 0x11256eb00>"
+            ],
             "image/png": [
               "iVBORw0KGgoAAAANSUhEUgAAAgUAAAEWCAYAAAD2NuSlAAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\n",
               "AAAPYQAAD2EBqD+naQAAIABJREFUeJzt3Xl4FFXe9vHvCQkJAUKQEMIWtigoYgARREVG8cFRRyHI\n",
@@ -5991,9 +5771,6 @@
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               "AVQUiIiIiJuKAhEREQHg/wMMmdXjxrt1sgAAAABJRU5ErkJggg==\n"
-            ],
-            "text/plain": [
-              "<matplotlib.figure.Figure at 0x112647898>"
             ]
           },
           "metadata": {}
@@ -6101,7 +5878,7 @@
           "execution_count": 7,
           "data": {
             "text/plain": [
-              "<matplotlib.patches.FancyArrow at 0x1131bf6d8>"
+              "<matplotlib.patches.FancyArrow at 0x11323aba8>"
             ]
           },
           "metadata": {}
@@ -6109,2301 +5886,3094 @@
         {
           "output_type": "display_data",
           "data": {
+            "text/plain": [
+              "<matplotlib.figure.Figure at 0x112b9e4a8>"
+            ],
             "image/png": [
               "iVBORw0KGgoAAAANSUhEUgAAA+MAAAKyCAYAAAC+IQ82AAAABHNCSVQICAgIfAhkiAAAAAlwSFlz\n",
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+              "JUmSJEnqMYtxSZIkSZJ6zGJckiRJkqQesxiXJEmSJKnHLMYlSZIkSeoxi3FJkiRJknrMYlySJEmS\n",
+              "pB77f5hpmS/TmcB2AAAAAElFTkSuQmCC\n"
             ]
           },
           "metadata": {}
@@ -8448,7 +9018,8 @@
         "        self.xpos = df[\"X_Position\"].values\n",
         "        self.ypos = df[\"Y_Position\"].values\n",
         "        self.yaw = df[\"Yaw\"].values\n",
-        "        self.count = 0\n",
+        "        self.count = -1 # This will be a running index, setting to -1 is a hack\n",
+        "                        # because moviepy (below) seems to run one extra iteration\n",
         "        self.worldmap = np.zeros((200, 200, 3)).astype(np.float)\n",
         "        self.ground_truth = ground_truth_3d # Ground truth worldmap\n",
         "\n",
@@ -8486,11 +9057,10 @@
         "# reading rover position and yaw angle from csv file\n",
         "# This function will be used by moviepy to create an output video\n",
         "def process_image(img):\n",
-        "    \n",
         "    # Example of how to use the Databucket() object defined above\n",
         "    # to print the current x, y and yaw values \n",
         "    # print(data.xpos[data.count], data.ypos[data.count], data.yaw[data.count])\n",
-        "    \n",
+        "\n",
         "    # TODO: \n",
         "    # 1) Define source and destination points for perspective transform\n",
         "    # 2) Apply perspective transform\n",
@@ -8501,29 +9071,29 @@
         "        # Example: data.worldmap[obstacle_y_world, obstacle_x_world, 0] += 1\n",
         "        #          data.worldmap[rock_y_world, rock_x_world, 1] += 1\n",
         "        #          data.worldmap[navigable_y_world, navigable_x_world, 2] += 1\n",
-        "    \n",
+        "\n",
         "    # 7) Make a mosaic image, below is some example code\n",
         "        # First create a blank image (can be whatever shape you like)\n",
         "    output_image = np.zeros((img.shape[0] + data.worldmap.shape[0], img.shape[1]*2, 3))\n",
         "        # Next you can populate regions of the image with various output\n",
         "        # Here I'm putting the original image in the upper left hand corner\n",
         "    output_image[0:img.shape[0], 0:img.shape[1]] = img\n",
-        "    \n",
+        "\n",
         "        # Let's create more images to add to the mosaic, first a warped image\n",
         "    warped = perspect_transform(img, source, destination)\n",
         "        # Add the warped image in the upper right hand corner\n",
         "    output_image[0:img.shape[0], img.shape[1]:] = warped\n",
-        "    \n",
+        "\n",
         "        # Overlay worldmap with ground truth map\n",
         "    map_add = cv2.addWeighted(data.worldmap, 1, data.ground_truth, 0.5, 0)\n",
         "        # Flip map overlay so y-axis points upward and add to output_image \n",
         "    output_image[img.shape[0]:, 0:data.worldmap.shape[1]] = np.flipud(map_add)\n",
-        "    \n",
-        "\n",
+        "\n\n",
         "        # Then putting some text over the image\n",
         "    cv2.putText(output_image,\"Populate this image with your analyses to make a video!\", (20, 20), \n",
         "                cv2.FONT_HERSHEY_COMPLEX, 0.4, (255, 255, 255), 1)\n",
         "    data.count += 1 # Keep track of the index in the Databucket()\n",
+        "    \n",
         "    return output_image"
       ],
       "outputs": [],
@@ -8550,8 +9120,9 @@
         "\n\n",
         "# Define pathname to save the output video\n",
         "output = '../output/test_mapping.mp4'\n",
-        "\n",
-        "clip = ImageSequenceClip(data.images, fps=60)\n",
+        "data = Databucket() # Re-initialize data in case you're running this cell multiple times\n",
+        "clip = ImageSequenceClip(data.images, fps=60) # Note: output video will be sped up because \n",
+        "                                          # recording rate in simulator is fps=25\n",
         "new_clip = clip.fl_image(process_image) #NOTE: this function expects color images!!\n",
         "%time new_clip.write_videofile(output, audio=False)"
       ],
@@ -8561,29 +9132,24 @@
           "name": "stdout",
           "text": [
             "[MoviePy] >>>> Building video ../output/test_mapping.mp4\n",
-            "[MoviePy] Writing video ../output/test_mapping.mp4\n"
+            "[MoviePy] Writing video ../output/test_mapping.mp4\n",
+            "[MoviePy] Done.\n",
+            "[MoviePy] >>>> Video ready: ../output/test_mapping.mp4 \n",
+            "\n",
+            "CPU times: user 1.75 s, sys: 150 ms, total: 1.9 s\n",
+            "Wall time: 2.3 s\n"
           ]
         },
         {
           "output_type": "stream",
           "name": "stderr",
           "text": [
-            "100%|██████████| 283/283 [00:02<00:00, 114.30it/s]\n"
-          ]
-        },
-        {
-          "output_type": "stream",
-          "name": "stdout",
-          "text": [
-            "[MoviePy] Done.\n",
-            "[MoviePy] >>>> Video ready: ../output/test_mapping.mp4 \n",
-            "\n",
-            "CPU times: user 1.72 s, sys: 226 ms, total: 1.95 s\n",
-            "Wall time: 2.67 s\n"
+            "\r  0%|          | 0/283 [00:00<?, ?it/s]\r  5%|▍         | 13/283 [00:00<00:02, 125.69it/s]\r 10%|▉         | 28/283 [00:00<00:01, 131.91it/s]\r 16%|█▌        | 45/283 [00:00<00:01, 140.51it/s]\r 22%|██▏       | 61/283 [00:00<00:01, 144.54it/s]\r 27%|██▋       | 77/283 [00:00<00:01, 147.27it/s]\r 32%|███▏      | 91/283 [00:00<00:01, 144.65it/s]\r 37%|███▋      | 106/283 [00:00<00:01, 145.04it/s]\r 43%|████▎     | 121/283 [00:00<00:01, 145.14it/s]\r 48%|████▊     | 135/283 [00:00<00:01, 141.32it/s]\r 53%|█████▎    | 149/283 [00:01<00:00, 138.81it/s]\r 58%|█████▊    | 163/283 [00:01<00:00, 137.80it/s]\r 63%|██████▎   | 177/283 [00:01<00:00, 130.70it/s]\r 67%|██████▋   | 190/283 [00:01<00:00, 129.51it/s]\r 72%|███████▏  | 203/283 [00:01<00:00, 127.31it/s]\r 76%|███████▋  | 216/283 [00:01<00:00, 125.25it/s]\r 81%|████████  | 229/283 [00:01<00:00, 126.34it/s]\r 86%|████████▌ | 243/283 [00:01<00:00, 128.69it/s]\r 91%|█████████ | 257/283 [00:01<00:00, 131.07it/s]\r 96%|█████████▌| 271/283 [00:01<00:00, 133.07it/s]\r",
+            "100%|██████████| 283/283 [00:02<00:00, 136.79it/s]\n"
           ]
         }
       ],
-      "execution_count": 10,
+      "execution_count": 15,
       "metadata": {
         "collapsed": false,
         "scrolled": false
@@ -8692,16 +9258,16 @@
       "display_name": "Python 3"
     },
     "language_info": {
-      "name": "python",
+      "mimetype": "text/x-python",
+      "pygments_lexer": "ipython3",
       "codemirror_mode": {
         "name": "ipython",
         "version": 3
       },
-      "mimetype": "text/x-python",
-      "version": "3.5.2",
       "file_extension": ".py",
-      "pygments_lexer": "ipython3",
-      "nbconvert_exporter": "python"
+      "nbconvert_exporter": "python",
+      "name": "python",
+      "version": "3.5.2"
     }
   },
   "nbformat": 4,