diff --git a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController.cs b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController.cs
index 03d67a44..49123910 100644
--- a/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController.cs
+++ b/Assets/Scripts/Pinpoint/Probes/ManipulatorBehaviorController.cs
@@ -443,9 +443,8 @@ private void EchoPosition(Vector4 pos)
                 CoordinateSpace.Space2World(manipulatorSpacePosition);
 
             // Set probe position (change axes to match probe)
-            var transformedApmldv =
-                _probeController.Insertion.World2T_Vector(zeroCoordinateAdjustedWorldPosition);
-
+            var transformedApmldv = BrainAtlasManager.World2T_Vector(zeroCoordinateAdjustedWorldPosition);
+            
             // Split between 3 and 4 axis assignments
             if (CoordinateTransform.Prefix == "3lhm")
                 _probeController.SetProbePosition(transformedApmldv);
diff --git a/Assets/Scripts/Pinpoint/UI/EphysCopilot/DrivePanelHandler.cs b/Assets/Scripts/Pinpoint/UI/EphysCopilot/DrivePanelHandler.cs
index 3fc151fd..e78083e4 100644
--- a/Assets/Scripts/Pinpoint/UI/EphysCopilot/DrivePanelHandler.cs
+++ b/Assets/Scripts/Pinpoint/UI/EphysCopilot/DrivePanelHandler.cs
@@ -21,7 +21,7 @@ private enum DriveState
             DrivingToNearTarget,
             AtNearTarget,
             ExitingToNearTarget,
-            DriveToPastTarget,
+            DrivingToPastTarget,
             AtPastTarget,
             ReturningToTarget,
             AtTarget
@@ -84,15 +84,23 @@ public void DriveIncrement()
                         State = DriveState.DrivingToNearTarget;
                         break;
                     case DriveState.AtNearTarget:
-                        State = DriveState.DriveToPastTarget;
+                        State = DriveState.DrivingToPastTarget;
                         break;
                     case DriveState.AtPastTarget:
                         State = DriveState.ReturningToTarget;
                         break;
 
+                    // Driving transition case: Switch to driving transition state
+                    case DriveState.ExitingToDura:
+                        State = DriveState.DrivingToNearTarget;
+                        break;
+                    case DriveState.ExitingToNearTarget:
+                        State = DriveState.DrivingToPastTarget;
+                        break;
+
                     // Driving in progress: maintain state
                     case DriveState.DrivingToNearTarget:
-                    case DriveState.DriveToPastTarget:
+                    case DriveState.DrivingToPastTarget:
                     case DriveState.ReturningToTarget:
                         break;
 
@@ -101,8 +109,6 @@ public void DriveIncrement()
                     case DriveState.ExitingToOutside:
                     case DriveState.AtExitMargin:
                     case DriveState.ExitingToMargin:
-                    case DriveState.ExitingToDura:
-                    case DriveState.ExitingToNearTarget:
                     case DriveState.AtTarget:
                     default:
                         Debug.LogError("Cannot drive down from state: " + State);
@@ -134,7 +140,7 @@ public void ExitIncrement()
                         State = DriveState.ExitingToDura;
                         break;
                     case DriveState.ReturningToTarget:
-                    case DriveState.DriveToPastTarget:
+                    case DriveState.DrivingToPastTarget:
                         State = DriveState.ExitingToNearTarget;
                         break;
 
@@ -173,7 +179,7 @@ public void CompleteMovement()
                     case DriveState.ExitingToNearTarget:
                         State = DriveState.AtNearTarget;
                         break;
-                    case DriveState.DriveToPastTarget:
+                    case DriveState.DrivingToPastTarget:
                         State = DriveState.AtPastTarget;
                         break;
                     case DriveState.ReturningToTarget:
@@ -242,8 +248,6 @@ private float _targetDriveDistance
                 // Converting worldT back to APMLDV (position transformed)
                 targetInsertion.APMLDV = targetInsertion.World2T(offsetAdjustedTargetPositionWorldT);
 
-                print("Target distance: " + Vector3.Distance(targetInsertion.APMLDV, _duraAPMLDV));
-
                 return Vector3.Distance(targetInsertion.APMLDV, _duraAPMLDV);
             }
         }
@@ -255,7 +259,7 @@ private Vector4 _outsidePosition
             {
                 // Create outside position APMLDV
                 var targetAPMLDV = _duraAPMLDV;
-                targetAPMLDV.z = ProbeManager.ProbeController.Insertion
+                targetAPMLDV.z = BrainAtlasManager
                     .World2T_Vector(InsertionSelectionPanelHandler.PRE_DEPTH_DRIVE_DV_OFFSET).z;
 
                 // Convert to manipulator position 
@@ -427,7 +431,7 @@ public void Drive()
                                     // Already closer than near target depth, so continue
                                     CompleteAndAdvance();
                                 break;
-                            case DriveState.DriveToPastTarget:
+                            case DriveState.DrivingToPastTarget:
                                 // Update status text
                                 _statusText.text = "Driving to " + _drivePastTargetDistance * 1000f +
                                                    " µm past target...";
@@ -484,7 +488,7 @@ public void Drive()
                             case DriveState.AtPastTarget:
                             case DriveState.AtTarget:
                             default:
-                                Debug.LogError("Invalid Drive state for driving: "+_driveStateManager.State);
+                                Debug.LogError("Invalid Drive state for driving: " + _driveStateManager.State);
                                 return;
                         }
                     }, Debug.LogError);
@@ -597,7 +601,7 @@ public void Exit()
                         case DriveState.AtDura:
                         case DriveState.DrivingToNearTarget:
                         case DriveState.AtNearTarget:
-                        case DriveState.DriveToPastTarget:
+                        case DriveState.DrivingToPastTarget:
                         case DriveState.AtPastTarget:
                         case DriveState.ReturningToTarget:
                         case DriveState.AtTarget:
@@ -646,23 +650,23 @@ public void Stop()
                 _exitButton.SetActive(true);
                 _stopButton.SetActive(false);
 
-                // Disable drive button if exiting or at Dura and above, otherwise enable.
+                // Disable drive button if at Dura and above, otherwise enable.
                 switch (_driveStateManager.State)
                 {
                     case DriveState.AtDura:
                     case DriveState.ExitingToMargin:
                     case DriveState.AtExitMargin:
                     case DriveState.ExitingToOutside:
-                    case DriveState.ExitingToDura:
-                    case DriveState.ExitingToNearTarget:
                     case DriveState.Outside:
                         _driveButton.interactable = false;
                         break;
                     case DriveState.DrivingToNearTarget:
                     case DriveState.AtNearTarget:
-                    case DriveState.DriveToPastTarget:
+                    case DriveState.DrivingToPastTarget:
                     case DriveState.AtPastTarget:
                     case DriveState.ReturningToTarget:
+                    case DriveState.ExitingToDura:
+                    case DriveState.ExitingToNearTarget:
                     case DriveState.AtTarget:
                         _driveButton.interactable = true;
                         break;