diff --git a/main.py b/main.py
index a0aef49..0fe47cd 100644
--- a/main.py
+++ b/main.py
@@ -120,9 +120,9 @@ def calc_NED_acceleration(NEDAttitude, specificForces):
     phi, theta, psi = NEDAttitude # Roll, Pitch, Yaw
 
     R41 = np.array([ [cos(psi)*cos(theta), cos(psi)*sin(theta)*sin(phi)-sin(psi)*cos(phi), cos(psi)*sin(theta)*cos(phi)+sin(psi)*sin(phi)],
-                          [sin(psi)*cos(theta), sin(psi)*sin(theta)*sin(phi)+cos(psi)*cos(phi), sin(psi)*sin(theta)*cos(phi)-cos(psi)*sin(phi)],
-                          [-sin(theta),         cos(theta)*sin(phi),                            cos(theta)*cos(phi)                           ]
-                        ])
+                     [sin(psi)*cos(theta), sin(psi)*sin(theta)*sin(phi)+cos(psi)*cos(phi), sin(psi)*sin(theta)*cos(phi)-cos(psi)*sin(phi)],
+                     [-sin(theta),         cos(theta)*sin(phi),                            cos(theta)*cos(phi)                           ]
+                ])
     
     return np.matmul(R41, specificForces) + GRAVITY_VEC
 
@@ -134,15 +134,15 @@ TRANS_DATA_HEADER = IMU_TIME_HEADER + IMU_WBE_HEADERS + NED_ACCELERATION_HEADER
 def calculateVelocityPosition(missionData, initial_values) -> pd.DataFrame:
     print("Translating Motion & Calculating Resulting Forces")
 
-    offset = initial_values
+    offset = initial_values.copy()
 
     translatedData = pd.DataFrame(columns=TRANS_DATA_HEADER)
     for i in tqdm(range(len(missionData))):
-        mData = lambda header, j=i: missionData[header].iloc[j].values 
-        dt = mData(IMU_TIME_HEADER, i-1)[0] - mData(IMU_TIME_HEADER, i)[0] if i > 0 else mData(IMU_TIME_HEADER, i)[0] - mData(IMU_TIME_HEADER, i+1)[0]
+        mData = lambda header, j=i: missionData.loc[j, header].values 
+        dt = mData(IMU_TIME_HEADER, i)[0] - mData(IMU_TIME_HEADER, i-1)[0] if i > 0 else mData(IMU_TIME_HEADER, i+1)[0] - mData(IMU_TIME_HEADER, i)[0]
 
         # Get the time point data
-        dataPoint = missionData[IMU_WBE_HEADERS].iloc[i] 
+        dataPoint = missionData.loc[i, IMU_WBE_HEADERS] 
         
         # Translate to NED Frame
         NED_attitude_rate = attitude_rate_2NED(dataPoint.values, INIT_EULER_ANGLES)
@@ -151,7 +151,7 @@ def calculateVelocityPosition(missionData, initial_values) -> pd.DataFrame:
         NED_velocity = NED_acceleration * dt + offset["velocity"]
         NED_position = NED_velocity * dt + offset["position"]
 
-        offset["attitude"] = NED_acceleration
+        offset["attitude"] = NED_attitude
         offset["velocity"] = NED_velocity
         offset["position"] = NED_position
 
@@ -242,7 +242,7 @@ def generateGraphs(missionData, mission):
             },
         ]
         }
-    makeGraph(graphData, False, False, figSavePath="./images/m{mission}_flight_pos.png")
+    makeGraph(graphData, False, False, figSavePath=f"./images/m{mission}_flight_pos.png")
     pBar.update(1)
 
     graphData = {
@@ -279,7 +279,7 @@ def generateGraphs(missionData, mission):
             },
         ]
     }
-    makeGraph(graphData, False, False, figSavePath="./images/m{mission}_flight_velocity.png")
+    makeGraph(graphData, False, False, figSavePath=f"./images/m{mission}_flight_velocity.png")
     pBar.update(1)
 
     graphData = {
@@ -294,45 +294,34 @@ def generateGraphs(missionData, mission):
                 "title":  "North Acceleration",  
                 "yLabel": "Acceleration [m/s$^2$]",
                 "plots": [
-                    {"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[0]], "label":"High Grade Data", "colour":"uq:blue"},
                     {"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[0]], "label":"Low Grade Data", "colour":"uq:purple"},
+                    {"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[0]], "label":"High Grade Data", "colour":"uq:blue"},
                 ]
             },
             {
                 "title":  "East Acceleration",  
                 "yLabel": "Acceleration [m/s$^2$]",
                 "plots": [
-                    {"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"},
                     {"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[1]], "label":"Low Grade Data", "colour":"uq:purple"},
+                    {"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[1]], "label":"High Grade Data", "colour":"uq:blue"},
                 ]
             },
             {
                 "title":  "Down Acceleration",  
                 "yLabel": "Acceleration [m/s$^2$]",
                 "plots": [
-                    {"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"},
                     {"x":missionData[0][IMU_TIME_HEADER[0]], "y":missionData[0][NED_ACCELERATION_HEADER[2]], "label":"Low Grade Data", "colour":"uq:purple"},
+                    {"x":missionData[1][IMU_TIME_HEADER[0]], "y":missionData[1][NED_ACCELERATION_HEADER[2]], "label":"High Grade Data", "colour":"uq:blue"},
                 ]
             },
         ]
     }
-    makeGraph(graphData, False, False, figSavePath="./images/m{mission}_flight_accell.png")
+    makeGraph(graphData, False, False, figSavePath=f"./images/m{mission}_flight_accell.png")
     pBar.update(1)
 
 if __name__ == '__main__':
     missionData = cacheData("./tmp/m1_L_transData.dfz", calculateVelocityPosition, (m1_IMUData[0], INIT_FLIGHT_PRAMS), forceCalc=False), \
         cacheData("./tmp/m1_H_transData.dfz", calculateVelocityPosition, (m1_IMUData[1], INIT_FLIGHT_PRAMS), forceCalc=False)
-
     generateGraphs(missionData, 1)
-    
-    #import matplotlib.pyplot as plt
-    #fig = plt.figure()
-    #ax = plt.axes(projection='3d')
-    #x, y, z = missionData[0][NED_POSITION_HEADER[0]], missionData[0][NED_POSITION_HEADER[1]], missionData[0][NED_POSITION_HEADER[2]]
-    #ax.plot3D(x, y, z)
-    #x, y, z = missionData[1][NED_POSITION_HEADER[0]], missionData[1][NED_POSITION_HEADER[1]], missionData[1][NED_POSITION_HEADER[2]]
-    #ax.plot3D(x, y, z)
-    #plt.show()
-    
 
     print("Complete")
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