diff --git a/steps/index.html b/steps/index.html
index b76baed..2d49b31 100644
--- a/steps/index.html
+++ b/steps/index.html
@@ -10,11 +10,11 @@
   <!-- <script src="https://cdn.tailwindcss.com"></script>  -->
   <script>
     // Silence Tailwind CDN production warning
-    (function() {
+    (function () {
       const suppress = (msg) => typeof msg === 'string' && (msg.includes('cdn.tailwindcss.com') || msg.includes('Tailwind CSS in production'));
       ['log', 'info', 'warn', 'error'].forEach(method => {
         const original = console[method];
-        console[method] = function() {
+        console[method] = function () {
           if (arguments[0] && suppress(arguments[0])) return;
           original.apply(console, arguments);
         };
@@ -23,70 +23,70 @@
   </script>
   <script src="./vendor/tailwind-cdn.js"></script>
   <script>
-    !window.tailwind && (function() {
+    !window.tailwind && (function () {
       var s = document.createElement('script');
       s.src = 'https://cdn.tailwindcss.com';
       document.head.appendChild(s);
     })();
   </script>
-  
+
   <!-- <script src="https://unpkg.com/oboe@2.1.5/dist/oboe-browser.min.js"></script> -->
   <script src="./vendor/oboe.min.js"></script>
   <script>
-    !window.oboe && (function() {
+    !window.oboe && (function () {
       var s = document.createElement('script');
       s.src = 'https://unpkg.com/oboe@2.1.5/dist/oboe-browser.min.js';
       document.head.appendChild(s);
     })();
   </script>
-  
+
   <!-- <script src="https://cdn.jsdelivr.net/npm/chart.js"></script> -->
   <script src="./vendor/chart.min.js"></script>
   <script>
-    !window.Chart && (function() {
+    !window.Chart && (function () {
       var s = document.createElement('script');
       s.src = 'https://cdn.jsdelivr.net/npm/chart.js';
       document.head.appendChild(s);
     })();
   </script>
 
-  
+
   <!-- <script src="https://cdn.jsdelivr.net/npm/ag-grid-community/dist/ag-grid-community.min.js"></script> -->
   <script src="./vendor/ag-grid-community.min.js"></script>
   <script>
-    !window.agGrid && (function() {
+    !window.agGrid && (function () {
       var s = document.createElement('script');
       s.src = 'https://cdn.jsdelivr.net/npm/ag-grid-community/dist/ag-grid-community.min.js';
       document.head.appendChild(s);
     })();
   </script>
-  
+
   <!-- <script src="https://cdnjs.cloudflare.com/ajax/libs/p5.js/1.9.0/p5.js"></script> -->
   <script src="./vendor/p5.js"></script>
   <script>
-    !window.p5 && (function() {
+    !window.p5 && (function () {
       var s = document.createElement('script');
       s.src = 'https://cdnjs.cloudflare.com/ajax/libs/p5.js/1.9.0/p5.js';
       document.head.appendChild(s);
     })();
   </script>
-  
-  <link rel="stylesheet" href="./vendor/gridstack.min.css"/>
+
+  <link rel="stylesheet" href="./vendor/gridstack.min.css" />
   <script src="./vendor/gridstack-all.js"></script>
   <script>
-    !window.GridStack && (function() {
+    !window.GridStack && (function () {
       // If local GridStack for some reason didn't load, try the CDN
       var s = document.createElement('script');
       s.src = 'https://cdnjs.cloudflare.com/ajax/libs/gridstack.js/10.1.2/gridstack-all.js';
       document.head.appendChild(s);
-      
+
       var l = document.createElement('link');
       l.rel = 'stylesheet';
       l.href = 'https://cdnjs.cloudflare.com/ajax/libs/gridstack.js/10.1.2/gridstack.min.css';
       document.head.appendChild(l);
     })();
   </script>
-  
+
   <script>
     tailwind.config = {
       darkMode: "class",
@@ -254,8 +254,9 @@
 <body class="bg-gray-100 dark:bg-gray-900 text-gray-800 dark:text-gray-200 flex flex-col min-h-screen">
 
   <!-- START SCREEN MODAL -->
-  <div id="start-screen-modal" class="fixed inset-0 z-50 flex items-center justify-center bg-gray-100 dark:bg-gray-900 transition-opacity duration-300">
-    
+  <div id="start-screen-modal"
+    class="fixed inset-0 z-50 flex items-center justify-center bg-gray-100 dark:bg-gray-900 transition-opacity duration-300">
+
     <!-- Header buttons on start screen -->
     <div class="absolute top-4 right-4 flex items-center gap-2">
       <button id="start-user-manual-btn" type="button"
@@ -270,53 +271,76 @@
         class="bg-cyan-100 dark:bg-cyan-700 text-cyan-800 dark:text-cyan-100 border border-cyan-300 dark:border-cyan-600 shadow-sm hover:bg-cyan-200 dark:hover:bg-cyan-600 active:scale-95 active:shadow-inner font-medium rounded-lg text-xs px-4 py-2 transition-all text-center">
         What's<br>New?
       </button>
-      <button id="start-theme-toggle" type="button" class="bg-indigo-900 dark:bg-amber-100 text-indigo-100 dark:text-amber-800 border border-indigo-700 dark:border-amber-300 shadow-sm hover:bg-indigo-800 dark:hover:bg-amber-200 active:scale-95 active:shadow-inner flex flex-row items-center gap-2 rounded-lg text-xs px-4 py-3.5 transition-all">
+      <button id="start-theme-toggle" type="button"
+        class="bg-indigo-900 dark:bg-amber-100 text-indigo-100 dark:text-amber-800 border border-indigo-700 dark:border-amber-300 shadow-sm hover:bg-indigo-800 dark:hover:bg-amber-200 active:scale-95 active:shadow-inner flex flex-row items-center gap-2 rounded-lg text-xs px-4 py-3.5 transition-all">
         <svg id="start-theme-toggle-dark-icon" class="hidden w-5 h-5" fill="currentColor" viewBox="0 0 20 20">
           <path d="M17.293 13.293A8 8 0 016.707 2.707a8.001 8.001 0 1010.586 10.586z"></path>
         </svg>
         <svg id="start-theme-toggle-light-icon" class="hidden w-5 h-5" fill="currentColor" viewBox="0 0 20 20">
-            <path d="M10 2a1 1 0 011 1v1a1 1 0 11-2 0V3a1 1 0 011-1zm4 8a4 4 0 11-8 0 4 4 0 018 0zm2 0a1 1 0 112 0v-1a1 1 0 00-2 0v1zm-14 0a1 1 0 112 0v-1a1 1 0 00-2 0v1zm8 6a1 1 0 100 2 1 1 0 000-2zm5.657-11.657a1 1 0 010 1.414l-1.414 1.414a1 1 0 11-1.414-1.414l1.414-1.414a1 1 0 011.414 0zm-11.314 0a1 1 0 011.414 0l1.414 1.414a1 1 0 11-1.414 1.414l-1.414-1.414a1 1 0 010-1.414zm11.314 11.314a1 1 0 01-1.414 0l-1.414-1.414a1 1 0 011.414-1.414l1.414 1.414a1 1 0 010 1.414zm-11.314 0a1 1 0 010-1.414l1.414-1.414a1 1 0 011.414 1.414l-1.414 1.414a1 1 0 01-1.414 0z" fill-rule="evenodd" clip-rule="evenodd"></path>
+          <path
+            d="M10 2a1 1 0 011 1v1a1 1 0 11-2 0V3a1 1 0 011-1zm4 8a4 4 0 11-8 0 4 4 0 018 0zm2 0a1 1 0 112 0v-1a1 1 0 00-2 0v1zm-14 0a1 1 0 112 0v-1a1 1 0 00-2 0v1zm8 6a1 1 0 100 2 1 1 0 000-2zm5.657-11.657a1 1 0 010 1.414l-1.414 1.414a1 1 0 11-1.414-1.414l1.414-1.414a1 1 0 011.414 0zm-11.314 0a1 1 0 011.414 0l1.414 1.414a1 1 0 11-1.414 1.414l-1.414-1.414a1 1 0 010-1.414zm11.314 11.314a1 1 0 01-1.414 0l-1.414-1.414a1 1 0 011.414-1.414l1.414 1.414a1 1 0 010 1.414zm-11.314 0a1 1 0 010-1.414l1.414-1.414a1 1 0 011.414 1.414l-1.414 1.414a1 1 0 01-1.414 0z"
+            fill-rule="evenodd" clip-rule="evenodd"></path>
         </svg>
       </button>
     </div>
 
-    <div class="bg-white dark:bg-gray-800 rounded-2xl shadow-[0_0_50px_rgba(0,0,0,0.2)] p-10 w-full max-w-4xl text-center border border-gray-200 dark:border-gray-700 relative z-10">
+    <div
+      class="bg-white dark:bg-gray-800 rounded-2xl shadow-[0_0_50px_rgba(0,0,0,0.2)] p-10 w-full max-w-4xl text-center border border-gray-200 dark:border-gray-700 relative z-10">
       <h1 class="text-4xl font-bold text-gray-900 dark:text-white mb-2 tracking-tight">Data Synchronizer</h1>
-      <p class="text-gray-500 dark:text-gray-400 mb-8 text-lg">Provide radar dataset and video parameters to initialize workspace</p>
-      
-      <div id="start-drop-zone" class="border-4 border-dashed border-gray-300 dark:border-gray-600 rounded-xl p-20 mb-8 hover:border-blue-500 hover:bg-blue-50 dark:hover:bg-gray-700 transition-colors cursor-pointer group">
-        <svg class="mx-auto h-16 w-16 text-gray-400 group-hover:text-blue-500 transition-colors mb-4" fill="none" viewBox="0 0 24 24" stroke="currentColor">
-          <path stroke-linecap="round" stroke-linejoin="round" stroke-width="2" d="M7 16a4 4 0 01-.88-7.903A5 5 0 1115.9 6L16 6a5 5 0 011 9.9M15 13l-3-3m0 0l-3 3m3-3v12" />
+      <p class="text-gray-500 dark:text-gray-400 mb-8 text-lg">Provide radar dataset and video parameters to initialize
+        workspace</p>
+
+      <div id="start-drop-zone"
+        class="border-4 border-dashed border-gray-300 dark:border-gray-600 rounded-xl p-20 mb-8 hover:border-blue-500 hover:bg-blue-50 dark:hover:bg-gray-700 transition-colors cursor-pointer group">
+        <svg class="mx-auto h-16 w-16 text-gray-400 group-hover:text-blue-500 transition-colors mb-4" fill="none"
+          viewBox="0 0 24 24" stroke="currentColor">
+          <path stroke-linecap="round" stroke-linejoin="round" stroke-width="2"
+            d="M7 16a4 4 0 01-.88-7.903A5 5 0 1115.9 6L16 6a5 5 0 011 9.9M15 13l-3-3m0 0l-3 3m3-3v12" />
         </svg>
         <p class="text-xl font-medium text-gray-700 dark:text-gray-300">Drag & Drop files here</p>
         <p class="text-sm text-gray-500 dark:text-gray-400 mt-2">Requires .json (and optionally video) format</p>
       </div>
 
       <div class="flex items-center justify-center gap-6">
-        <button id="start-load-json-btn" class="bg-blue-600 text-white px-6 py-3 rounded-lg hover:bg-blue-700 transition-all text-lg font-semibold w-48 shadow-lg active:scale-95 active:shadow-inner flex items-center justify-center gap-2">
-          <svg class="w-5 h-5" fill="none" stroke="currentColor" viewBox="0 0 24 24"><path stroke-linecap="round" stroke-linejoin="round" stroke-width="2" d="M9 12h6m-6 4h6m2 5H7a2 2 0 01-2-2V5a2 2 0 012-2h5.586a1 1 0 01.707.293l5.414 5.414a1 1 0 01.293.707V19a2 2 0 01-2 2z"></path></svg>
+        <button id="start-load-json-btn"
+          class="bg-blue-600 text-white px-6 py-3 rounded-lg hover:bg-blue-700 transition-all text-lg font-semibold w-48 shadow-lg active:scale-95 active:shadow-inner flex items-center justify-center gap-2">
+          <svg class="w-5 h-5" fill="none" stroke="currentColor" viewBox="0 0 24 24">
+            <path stroke-linecap="round" stroke-linejoin="round" stroke-width="2"
+              d="M9 12h6m-6 4h6m2 5H7a2 2 0 01-2-2V5a2 2 0 012-2h5.586a1 1 0 01.707.293l5.414 5.414a1 1 0 01.293.707V19a2 2 0 01-2 2z">
+            </path>
+          </svg>
           Select JSON
         </button>
-        <button id="start-load-video-btn" class="bg-green-600 text-white px-6 py-3 rounded-lg hover:bg-green-700 transition-all text-lg font-semibold w-48 shadow-lg active:scale-95 active:shadow-inner flex items-center justify-center gap-2">
-          <svg class="w-5 h-5" fill="none" stroke="currentColor" viewBox="0 0 24 24"><path stroke-linecap="round" stroke-linejoin="round" stroke-width="2" d="M15 10l4.553-2.276A1 1 0 0121 8.618v6.764a1 1 0 01-1.447.894L15 14M5 18h8a2 2 0 002-2V8a2 2 0 00-2-2H5a2 2 0 00-2 2v8a2 2 0 002 2z"></path></svg>
+        <button id="start-load-video-btn"
+          class="bg-green-600 text-white px-6 py-3 rounded-lg hover:bg-green-700 transition-all text-lg font-semibold w-48 shadow-lg active:scale-95 active:shadow-inner flex items-center justify-center gap-2">
+          <svg class="w-5 h-5" fill="none" stroke="currentColor" viewBox="0 0 24 24">
+            <path stroke-linecap="round" stroke-linejoin="round" stroke-width="2"
+              d="M15 10l4.553-2.276A1 1 0 0121 8.618v6.764a1 1 0 01-1.447.894L15 14M5 18h8a2 2 0 002-2V8a2 2 0 00-2-2H5a2 2 0 00-2 2v8a2 2 0 002 2z">
+            </path>
+          </svg>
           Select Video
         </button>
       </div>
-      
+
       <div class="mt-8 text-sm text-gray-500 dark:text-gray-400">
-          <button id="start-clear-cache-btn" class="hover:text-red-500 dark:hover:text-red-400 transition-colors uppercase tracking-wider text-xs font-bold">Clear Cached Session</button>
+        <button id="start-clear-cache-btn"
+          class="hover:text-red-500 dark:hover:text-red-400 transition-colors uppercase tracking-wider text-xs font-bold">Clear
+          Cached Session</button>
       </div>
 
       <!-- INTEGRATED LOADER UI (Hidden by default) -->
       <div id="start-progress-container" class="hidden mt-6 w-full max-w-md mx-auto">
         <div class="w-full bg-gray-200 rounded-full h-2.5 dark:bg-gray-700">
-          <div id="start-progress-bar" class="bg-blue-600 h-2.5 rounded-full transition-all duration-300" style="width: 0%"></div>
+          <div id="start-progress-bar" class="bg-blue-600 h-2.5 rounded-full transition-all duration-300"
+            style="width: 0%"></div>
+        </div>
+        <div id="start-progress-text"
+          class="text-sm font-medium text-gray-700 dark:text-gray-300 mt-2 text-center animate-pulse">Initializing...
         </div>
-        <div id="start-progress-text" class="text-sm font-medium text-gray-700 dark:text-gray-300 mt-2 text-center animate-pulse">Initializing...</div>
       </div>
     </div>
 
-    </div>
+  </div>
   </div>
   <header class="bg-white dark:bg-gray-800 shadow-md pt-0 px-4 pb-4 z-20 relative">
     <h1 class="text-2xl font-bold text-gray-900 dark:text-white">
@@ -329,7 +353,8 @@
       <button id="fullscreen-btn" type="button"
         class="bg-gray-100 dark:bg-gray-700 text-gray-700 dark:text-gray-300 border border-gray-300 dark:border-gray-600 shadow-sm hover:bg-gray-200 dark:hover:bg-gray-600 active:scale-95 active:shadow-inner font-medium rounded-lg text-xs px-4 py-2 transition-all">
         FULLSCREEN<br>
-        <span class="text-xs font-mono bg-gray-200 dark:bg-gray-600 text-gray-700 dark:text-gray-200 px-1.5 py-0.5 rounded">(F11)
+        <span
+          class="text-xs font-mono bg-gray-200 dark:bg-gray-600 text-gray-700 dark:text-gray-200 px-1.5 py-0.5 rounded">(F11)
         </span>
       </button>
       <button id="explorer-btn" type="button"
@@ -356,13 +381,16 @@
         class="bg-cyan-100 dark:bg-cyan-700 text-cyan-800 dark:text-cyan-100 border border-cyan-300 dark:border-cyan-600 shadow-sm hover:bg-cyan-200 dark:hover:bg-cyan-600 active:scale-95 active:shadow-inner font-medium rounded-lg text-xs px-4 py-2 transition-all text-center">
         What's<br>New?
       </button>
-            <button id="theme-toggle" type="button" class="bg-indigo-900 dark:bg-amber-100 text-indigo-100 dark:text-amber-800 border border-indigo-700 dark:border-amber-300 shadow-sm hover:bg-indigo-800 dark:hover:bg-amber-200 active:scale-95 active:shadow-inner flex flex-row items-center gap-2 rounded-lg text-xs px-4 py-3.5 transition-all">
-              <svg id="theme-toggle-dark-icon" class="hidden w-5 h-5" fill="currentColor" viewBox="0 0 20 20">
-                <path d="M17.293 13.293A8 8 0 016.707 2.707a8.001 8.001 0 1010.586 10.586z"></path>
-              </svg>
-                              <svg id="theme-toggle-light-icon" class="hidden w-5 h-5" fill="currentColor" viewBox="0 0 20 20">
-                                  <path d="M10 2a1 1 0 011 1v1a1 1 0 11-2 0V3a1 1 0 011-1zm4 8a4 4 0 11-8 0 4 4 0 018 0zm2 0a1 1 0 112 0v-1a1 1 0 00-2 0v1zm-14 0a1 1 0 112 0v-1a1 1 0 00-2 0v1zm8 6a1 1 0 100 2 1 1 0 000-2zm5.657-11.657a1 1 0 010 1.414l-1.414 1.414a1 1 0 11-1.414-1.414l1.414-1.414a1 1 0 011.414 0zm-11.314 0a1 1 0 011.414 0l1.414 1.414a1 1 0 11-1.414 1.414l-1.414-1.414a1 1 0 010-1.414zm11.314 11.314a1 1 0 01-1.414 0l-1.414-1.414a1 1 0 011.414-1.414l1.414 1.414a1 1 0 010 1.414zm-11.314 0a1 1 0 010-1.414l1.414-1.414a1 1 0 011.414 1.414l-1.414 1.414a1 1 0 01-1.414 0z" fill-rule="evenodd" clip-rule="evenodd"></path>
-                              </svg>            </button>
+      <button id="theme-toggle" type="button"
+        class="bg-indigo-900 dark:bg-amber-100 text-indigo-100 dark:text-amber-800 border border-indigo-700 dark:border-amber-300 shadow-sm hover:bg-indigo-800 dark:hover:bg-amber-200 active:scale-95 active:shadow-inner flex flex-row items-center gap-2 rounded-lg text-xs px-4 py-3.5 transition-all">
+        <svg id="theme-toggle-dark-icon" class="hidden w-5 h-5" fill="currentColor" viewBox="0 0 20 20">
+          <path d="M17.293 13.293A8 8 0 016.707 2.707a8.001 8.001 0 1010.586 10.586z"></path>
+        </svg>
+        <svg id="theme-toggle-light-icon" class="hidden w-5 h-5" fill="currentColor" viewBox="0 0 20 20">
+          <path
+            d="M10 2a1 1 0 011 1v1a1 1 0 11-2 0V3a1 1 0 011-1zm4 8a4 4 0 11-8 0 4 4 0 018 0zm2 0a1 1 0 112 0v-1a1 1 0 00-2 0v1zm-14 0a1 1 0 112 0v-1a1 1 0 00-2 0v1zm8 6a1 1 0 100 2 1 1 0 000-2zm5.657-11.657a1 1 0 010 1.414l-1.414 1.414a1 1 0 11-1.414-1.414l1.414-1.414a1 1 0 011.414 0zm-11.314 0a1 1 0 011.414 0l1.414 1.414a1 1 0 11-1.414 1.414l-1.414-1.414a1 1 0 010-1.414zm11.314 11.314a1 1 0 01-1.414 0l-1.414-1.414a1 1 0 011.414-1.414l1.414 1.414a1 1 0 010 1.414zm-11.314 0a1 1 0 010-1.414l1.414-1.414a1 1 0 011.414 1.414l-1.414 1.414a1 1 0 01-1.414 0z"
+            fill-rule="evenodd" clip-rule="evenodd"></path>
+        </svg> </button>
     </div>
   </header>
 
@@ -414,8 +442,9 @@
             (P)</label>
           <label class="flex items-center gap-2 text-sm cursor-pointer"><input type="checkbox" id="toggle-covariance"
               class="form-checkbox h-4 w-4 text-blue-600 rounded focus:ring-blue-500" /> Show Covariance</label>
-          <label class="flex items-center gap-2 text-sm cursor-pointer"><input type="checkbox" id="toggle-vehicle-dimensions"
-              class="form-checkbox h-4 w-4 text-blue-600 rounded focus:ring-blue-500" checked /> Show Dimensions</label>
+          <label class="flex items-center gap-2 text-sm cursor-pointer"><input type="checkbox"
+              id="toggle-vehicle-dimensions" class="form-checkbox h-4 w-4 text-blue-600 rounded focus:ring-blue-500"
+              checked /> Show Dimensions</label>
           <label class="flex items-center gap-2 text-sm cursor-pointer"><input type="checkbox"
               id="toggle-confirmed-only" class="form-checkbox h-4 w-4 text-blue-600 rounded focus:ring-blue-500"
               checked />
@@ -472,10 +501,6 @@
     </div>
   </aside>
 
-  <div id="zoom-panel"
-    class="hidden fixed bottom-11 right-5 h-[50%] w-1/2 bg-white dark:bg-gray-800 z-20 shadow-2xl border-l-2 border-t-2 border-gray-300 dark:border-gray-600">
-    <div id="zoom-canvas-container" class="w-full h-full"></div>
-  </div>
   <!-- Open Menu Button -->
   <button id="toggle-menu-btn"
     class="fixed top-20 left-3 z-20 bg-white dark:bg-gray-700 p-2 rounded-md shadow-lg hover:bg-gray-100 dark:hover:bg-gray-600 transition-all">
@@ -493,26 +518,33 @@
     <div class="grid-stack grid-stack-12">
       <!-- Radar Panel -->
       <div class="grid-stack-item shadow-md rounded-lg" gs-x="0" gs-y="0" gs-w="6" gs-h="12">
-        <div class="grid-stack-item-content bg-white dark:bg-gray-700 border border-gray-200 dark:border-gray-600 rounded-lg overflow-visible flex flex-col relative group">
-          <div class="absolute top-0 left-0 w-full h-4 cursor-grab active:cursor-grabbing bg-transparent hover:bg-gray-300/30 z-[60] transition-colors rounded-t-lg" title="Drag to move panel"></div>
-          
+        <div
+          class="grid-stack-item-content bg-white dark:bg-gray-700 border border-gray-200 dark:border-gray-600 rounded-lg overflow-visible flex flex-col relative group">
+          <div
+            class="absolute top-0 left-0 w-full h-4 cursor-grab active:cursor-grabbing bg-transparent hover:bg-gray-300/30 z-[60] transition-colors rounded-t-lg"
+            title="Drag to move panel"></div>
+
           <div class="relative w-full h-full flex-grow">
             <div id="canvas-container" class="w-full h-full flex items-center justify-center relative">
-              <p id="canvas-placeholder" class="hidden text-gray-500 dark:text-gray-400 text-lg">Load JSON data to start visualization</p>
-              
+              <p id="canvas-placeholder" class="hidden text-gray-500 dark:text-gray-400 text-lg">Load JSON data to start
+                visualization</p>
+
               <!-- Range Slider (Vertical) -->
               <div class="absolute bottom-8 left-2 flex flex-col items-center gap-2 z-20 group">
-                <span id="range-value-display" class="bg-black bg-opacity-60 text-white text-[10px] px-1.5 py-0.5 rounded font-mono">80m</span>
+                <span id="range-value-display"
+                  class="bg-black bg-opacity-60 text-white text-[10px] px-1.5 py-0.5 rounded font-mono">80m</span>
                 <input type="range" id="range-slider" min="40" max="200" value="80" step="10"
-                  class="h-32 cursor-pointer accent-blue-600" 
+                  class="h-32 cursor-pointer accent-blue-600"
                   style="writing-mode: vertical-lr; direction: rtl; width: 8px;" />
-                <span class="text-[10px] font-bold text-gray-400 uppercase tracking-tighter" style="writing-mode: vertical-lr; transform: rotate(180deg);">Range</span>
+                <span class="text-[10px] font-bold text-gray-400 uppercase tracking-tighter"
+                  style="writing-mode: vertical-lr; transform: rotate(180deg);">Range</span>
               </div>
             </div>
             <div id="radar-info-overlay"
               class="absolute top-4 left-0 right-0 z-10 bg-black bg-opacity-60 text-white font-mono text-xs p-2 rounded-md hidden pointer-events-none">
             </div>
-            <div class="absolute bottom-2 left-1/2 -translate-x-1/2 flex items-center justify-center gap-4 z-20 pointer-events-none">
+            <div
+              class="absolute bottom-2 left-1/2 -translate-x-1/2 flex items-center justify-center gap-4 z-20 pointer-events-none">
               <div id="ego-speed-display"
                 class="bg-black bg-opacity-60 text-white text-sm px-3 py-1.5 rounded-md hidden font-mono"></div>
               <div id="can-speed-display"
@@ -521,33 +553,72 @@
           </div>
         </div>
       </div>
-      
+
       <!-- Video Panel -->
       <div class="grid-stack-item shadow-md rounded-lg" gs-x="6" gs-y="0" gs-w="6" gs-h="8">
-        <div class="grid-stack-item-content bg-black rounded-lg overflow-hidden flex items-center justify-center relative group">
-          <div class="absolute top-0 left-0 w-full h-4 cursor-grab active:cursor-grabbing bg-transparent hover:bg-white/20 z-[60] transition-colors rounded-t-lg" title="Drag to move panel"></div>
-          
+        <div
+          class="grid-stack-item-content bg-black rounded-lg overflow-hidden flex items-center justify-center relative group">
+          <div
+            class="absolute top-0 left-0 w-full h-4 cursor-grab active:cursor-grabbing bg-transparent hover:bg-white/20 z-[60] transition-colors rounded-t-lg"
+            title="Drag to move panel"></div>
+
           <video id="video-player" class="w-full h-full object-contain hidden" muted playsinline></video>
           <p id="video-placeholder" class="hidden text-gray-500 text-lg">Load a video file</p>
           <div id="video-info-overlay"
             class="absolute top-4 left-2 z-[20] bg-black bg-opacity-60 text-white font-mono text-xs p-2 rounded-md hidden pointer-events-none">
           </div>
           <div id="debug-overlay"
-            class="absolute top-0 left-0 bg-black bg-opacity-60 text-white p-2 font-mono text-xs hidden w-full z-[20] pointer-events-none"></div>
+            class="absolute top-0 left-0 bg-black bg-opacity-60 text-white p-2 font-mono text-xs hidden w-full z-[20] pointer-events-none">
+          </div>
         </div>
       </div>
-      
+
       <!-- SpeedGraph Panel -->
       <div class="grid-stack-item shadow-md rounded-lg" gs-x="6" gs-y="8" gs-w="6" gs-h="4">
-        <div class="grid-stack-item-content bg-white dark:bg-gray-700 border border-gray-200 dark:border-gray-600 rounded-lg overflow-hidden flex items-center justify-center relative group">
-          <div class="absolute top-0 left-0 w-full h-4 cursor-grab active:cursor-grabbing bg-transparent hover:bg-gray-300/30 z-[60] transition-colors rounded-t-lg" title="Drag to move panel"></div>
-          
+        <div
+          class="grid-stack-item-content bg-white dark:bg-gray-700 border border-gray-200 dark:border-gray-600 rounded-lg overflow-hidden flex items-center justify-center relative group">
+          <div
+            class="absolute top-0 left-0 w-full h-4 cursor-grab active:cursor-grabbing bg-transparent hover:bg-gray-300/30 z-[60] transition-colors rounded-t-lg"
+            title="Drag to move panel"></div>
+
           <div id="speed-graph-container" class="w-full h-full flex items-center justify-center p-1 relative">
-            <p id="speed-graph-placeholder" class="text-gray-500 dark:text-gray-400 text-lg text-center absolute pointer-events-none">Load JSON & Video to see speed graph</p>
+            <p id="speed-graph-placeholder"
+              class="text-gray-500 dark:text-gray-400 text-lg text-center absolute pointer-events-none">Load JSON &
+              Video to see speed graph</p>
           </div>
         </div>
       </div>
+
+
     </div>
+
+    <!-- START: Floating Zoom Panel -->
+    <div id="zoom-panel"
+      class="hidden fixed bottom-11 right-5 bg-white dark:bg-gray-800 shadow-2xl rounded-lg z-30 flex flex-col border dark:border-gray-600"
+      style="width: 900px; height: 455px;">
+
+      <div id="zoom-panel-header"
+        class="flex items-center justify-between p-2 border-b dark:border-gray-700 cursor-move bg-gray-100 dark:bg-gray-700 rounded-t-lg">
+        <h2 class="text-sm font-bold text-gray-500 uppercase tracking-wider ml-2 pointer-events-none">God Mode</h2>
+        <button id="close-zoom-btn"
+          class="text-gray-500 dark:text-gray-400 hover:bg-gray-200 dark:hover:bg-gray-600 rounded-lg p-1 px-2">&times;</button>
+      </div>
+
+      <div class="resizer resizer-t"></div>
+      <div class="resizer resizer-r"></div>
+      <div class="resizer resizer-b"></div>
+      <div class="resizer resizer-l"></div>
+      <div class="resizer resizer-tl"></div>
+      <div class="resizer resizer-tr"></div>
+      <div class="resizer resizer-br"></div>
+      <div class="resizer resizer-bl"></div>
+
+      <div id="zoom-canvas-container"
+        class="flex-grow relative flex items-center justify-center overflow-hidden rounded-b-lg">
+      </div>
+    </div>
+    <!-- END: Floating Zoom Panel -->
+
     <div id="data-explorer-panel"
       class="hidden fixed bottom-24 right-4 bg-white dark:bg-gray-800 shadow-2xl rounded-lg z-30 flex flex-col w-full max-w-2xl h-1/2 border dark:border-gray-600">
 
@@ -651,11 +722,14 @@
   </footer>
 
   <!-- SHORTCUTS MODAL -->
-  <div id="shortcuts-modal" class="fixed inset-0 z-50 flex items-center justify-center hidden bg-black bg-opacity-80 backdrop-blur-sm p-4">
-    <div class="bg-white dark:bg-gray-900 rounded-2xl shadow-2xl w-full max-w-5xl max-h-[90vh] overflow-y-auto relative flex flex-col">
-      
+  <div id="shortcuts-modal"
+    class="fixed inset-0 z-50 flex items-center justify-center hidden bg-black bg-opacity-80 backdrop-blur-sm p-4">
+    <div
+      class="bg-white dark:bg-gray-900 rounded-2xl shadow-2xl w-full max-w-5xl max-h-[90vh] overflow-y-auto relative flex flex-col">
+
       <!-- Header -->
-      <div class="flex items-center justify-between p-6 border-b border-gray-200 dark:border-gray-700 sticky top-0 bg-white dark:bg-gray-900 z-10">
+      <div
+        class="flex items-center justify-between p-6 border-b border-gray-200 dark:border-gray-700 sticky top-0 bg-white dark:bg-gray-900 z-10">
         <div class="flex items-center gap-3">
           <span class="text-3xl">⌨️</span>
           <div>
@@ -663,17 +737,20 @@
             <p class="text-sm text-gray-500 dark:text-gray-400">Press <kbd>ESC</kbd> or click outside to close</p>
           </div>
         </div>
-        <button id="shortcuts-modal-close-btn" class="px-6 py-2 rounded-lg bg-green-600 text-white hover:bg-green-700 font-semibold text-lg transition-colors">
+        <button id="shortcuts-modal-close-btn"
+          class="px-6 py-2 rounded-lg bg-green-600 text-white hover:bg-green-700 font-semibold text-lg transition-colors">
           Skip
         </button>
       </div>
 
       <!-- Content Grid -->
       <div class="p-8 grid grid-cols-1 md:grid-cols-2 lg:grid-cols-3 gap-6">
-        
+
         <!-- Playback -->
         <div class="feature-card p-6 bg-gray-50 dark:bg-gray-800">
-          <h3 class="mb-4 text-lg font-bold text-blue-600 dark:text-blue-400 border-b pb-2 border-gray-200 dark:border-gray-700">Playback & Navigation</h3>
+          <h3
+            class="mb-4 text-lg font-bold text-blue-600 dark:text-blue-400 border-b pb-2 border-gray-200 dark:border-gray-700">
+            Playback & Navigation</h3>
           <ul class="space-y-3 text-sm text-gray-700 dark:text-gray-300">
             <li class="flex justify-between items-center"><span>Play / Pause</span> <kbd>Space</kbd></li>
             <li class="flex justify-between items-center"><span>Next Frame</span> <kbd>→</kbd></li>
@@ -686,7 +763,9 @@
 
         <!-- View & Toggles -->
         <div class="feature-card p-6 bg-gray-50 dark:bg-gray-800">
-          <h3 class="mb-4 text-lg font-bold text-emerald-600 dark:text-emerald-400 border-b pb-2 border-gray-200 dark:border-gray-700">View & UI Toggles</h3>
+          <h3
+            class="mb-4 text-lg font-bold text-emerald-600 dark:text-emerald-400 border-b pb-2 border-gray-200 dark:border-gray-700">
+            View & UI Toggles</h3>
           <ul class="space-y-3 text-sm text-gray-700 dark:text-gray-300">
             <li class="flex justify-between items-center"><span>Sidebar Menu</span> <kbd>M</kbd></li>
             <li class="flex justify-between items-center"><span>Data Explorer</span> <kbd>I</kbd></li>
@@ -699,7 +778,9 @@
 
         <!-- Data Display -->
         <div class="feature-card p-6 bg-gray-50 dark:bg-gray-800">
-          <h3 class="mb-4 text-lg font-bold text-pink-600 dark:text-pink-400 border-b pb-2 border-gray-200 dark:border-gray-700">Data Visualization</h3>
+          <h3
+            class="mb-4 text-lg font-bold text-pink-600 dark:text-pink-400 border-b pb-2 border-gray-200 dark:border-gray-700">
+            Data Visualization</h3>
           <ul class="space-y-3 text-sm text-gray-700 dark:text-gray-300">
             <li class="flex justify-between items-center"><span>Toggle Tracks</span> <kbd>T</kbd></li>
             <li class="flex justify-between items-center"><span>Object Details</span> <kbd>D</kbd></li>
@@ -715,7 +796,8 @@
       </div>
 
       <!-- Footer Tip -->
-      <div class="p-6 bg-gray-50 dark:bg-gray-800 text-center border-t border-gray-200 dark:border-gray-700 rounded-b-2xl">
+      <div
+        class="p-6 bg-gray-50 dark:bg-gray-800 text-center border-t border-gray-200 dark:border-gray-700 rounded-b-2xl">
         <p class="text-sm text-gray-500">Pro Tip: You can also press <kbd>K</kbd> anytime to toggle this screen.</p>
       </div>
 
@@ -723,11 +805,13 @@
   </div>
 
   <!-- USER GUIDE MODAL -->
-  <div id="guide-modal" class="fixed inset-0 z-50 flex items-center justify-center hidden bg-black bg-opacity-80 backdrop-blur-sm p-4">
+  <div id="guide-modal"
+    class="fixed inset-0 z-50 flex items-center justify-center hidden bg-black bg-opacity-80 backdrop-blur-sm p-4">
     <div class="bg-white dark:bg-gray-900 rounded-2xl shadow-2xl w-full h-full mx-8 my-4 relative flex flex-col">
-      
+
       <!-- Header -->
-      <div class="flex items-center justify-between px-6 py-1 border-b border-gray-200 dark:border-gray-700 sticky top-0 bg-white dark:bg-gray-900 z-10 rounded-t-2xl">
+      <div
+        class="flex items-center justify-between px-6 py-1 border-b border-gray-200 dark:border-gray-700 sticky top-0 bg-white dark:bg-gray-900 z-10 rounded-t-2xl">
         <div class="flex items-center gap-3">
           <span class="text-3xl">📚</span>
           <div>
@@ -739,16 +823,19 @@
       </div>
 
       <!-- Iframe Content -->
-      <iframe id="user-manual-iframe" src="annex/User_Manual.html?v=3.3.0" class="flex-grow w-full border-0 rounded-b-2xl" style="min-height: 400px;"></iframe>
-      </div>
-      </div>
+      <iframe id="user-manual-iframe" src="annex/User_Manual.html?v=3.3.0"
+        class="flex-grow w-full border-0 rounded-b-2xl" style="min-height: 400px;"></iframe>
+    </div>
+  </div>
 
-      <!-- CODEBASE OVERVIEW MODAL -->
-      <div id="codebase-modal" class="fixed inset-0 z-50 flex items-center justify-center hidden bg-black bg-opacity-80 backdrop-blur-sm p-4">
-      <div class="bg-white dark:bg-gray-900 rounded-2xl shadow-2xl w-full h-full mx-8 my-4 relative flex flex-col">
+  <!-- CODEBASE OVERVIEW MODAL -->
+  <div id="codebase-modal"
+    class="fixed inset-0 z-50 flex items-center justify-center hidden bg-black bg-opacity-80 backdrop-blur-sm p-4">
+    <div class="bg-white dark:bg-gray-900 rounded-2xl shadow-2xl w-full h-full mx-8 my-4 relative flex flex-col">
 
       <!-- Header -->
-      <div class="flex items-center justify-between px-6 py-1 border-b border-gray-200 dark:border-gray-700 sticky top-0 bg-white dark:bg-gray-900 z-10 rounded-t-2xl">
+      <div
+        class="flex items-center justify-between px-6 py-1 border-b border-gray-200 dark:border-gray-700 sticky top-0 bg-white dark:bg-gray-900 z-10 rounded-t-2xl">
         <div class="flex items-center gap-3">
           <span class="text-3xl"></span>
           <div>
@@ -760,16 +847,19 @@
       </div>
 
       <!-- Iframe Content -->
-      <iframe id="codebase-iframe" src="annex/code-base-overview.html?v=3.3.0" class="flex-grow w-full border-0 rounded-b-2xl" style="min-height: 400px;"></iframe>
-      </div>
-      </div>
+      <iframe id="codebase-iframe" src="annex/code-base-overview.html?v=3.3.0"
+        class="flex-grow w-full border-0 rounded-b-2xl" style="min-height: 400px;"></iframe>
+    </div>
+  </div>
 
-      <!-- CHANGELOG MODAL -->
-      <div id="changelog-modal" class="fixed inset-0 z-50 flex items-center justify-center hidden bg-black bg-opacity-80 backdrop-blur-sm p-4">
-      <div class="bg-white dark:bg-gray-900 rounded-2xl shadow-2xl w-full h-full mx-8 my-4 relative flex flex-col">
+  <!-- CHANGELOG MODAL -->
+  <div id="changelog-modal"
+    class="fixed inset-0 z-50 flex items-center justify-center hidden bg-black bg-opacity-80 backdrop-blur-sm p-4">
+    <div class="bg-white dark:bg-gray-900 rounded-2xl shadow-2xl w-full h-full mx-8 my-4 relative flex flex-col">
 
       <!-- Header -->
-      <div class="flex items-center justify-between px-6 py-1 border-b border-gray-200 dark:border-gray-700 sticky top-0 bg-white dark:bg-gray-900 z-10 rounded-t-2xl">
+      <div
+        class="flex items-center justify-between px-6 py-1 border-b border-gray-200 dark:border-gray-700 sticky top-0 bg-white dark:bg-gray-900 z-10 rounded-t-2xl">
         <div class="flex items-center gap-3">
           <span class="text-3xl">🚀</span>
           <div>
@@ -781,9 +871,10 @@
       </div>
 
       <!-- Iframe Content -->
-      <iframe id="changelog-iframe" src="annex/Changelog_3.3.0.html" class="flex-grow w-full border-0 rounded-b-2xl" style="min-height: 400px;"></iframe>
-      </div>
-      </div>
+      <iframe id="changelog-iframe" src="annex/Changelog_3.3.0.html" class="flex-grow w-full border-0 rounded-b-2xl"
+        style="min-height: 400px;"></iframe>
+    </div>
+  </div>
   <div id="modal-container" class="fixed inset-0 z-50 flex items-center justify-center hidden">
     <div id="modal-overlay" class="absolute inset-0 bg-black bg-opacity-50"></div>
     <div id="modal-content"
@@ -808,10 +899,13 @@
   <input type="file" id="session-file-input" class="hidden" accept=".json" />
 
   <!-- Global drag-and-drop overlay -->
-  <div id="global-drag-overlay" class="fixed inset-0 z-[60] flex items-center justify-center bg-blue-600/30 backdrop-blur-sm border-8 border-dashed border-blue-500 rounded-3xl m-4 pointer-events-none opacity-0 transition-opacity duration-300">
-    <div class="bg-blue-600 text-white px-10 py-5 rounded-2xl shadow-2xl flex items-center gap-6 border-4 border-blue-400">
+  <div id="global-drag-overlay"
+    class="fixed inset-0 z-[60] flex items-center justify-center bg-blue-600/30 backdrop-blur-sm border-8 border-dashed border-blue-500 rounded-3xl m-4 pointer-events-none opacity-0 transition-opacity duration-300">
+    <div
+      class="bg-blue-600 text-white px-10 py-5 rounded-2xl shadow-2xl flex items-center gap-6 border-4 border-blue-400">
       <svg class="h-16 w-16 animate-bounce" fill="none" viewBox="0 0 24 24" stroke="currentColor">
-        <path stroke-linecap="round" stroke-linejoin="round" stroke-width="2" d="M7 16a4 4 0 01-.88-7.903A5 5 0 1115.9 6L16 6a5 5 0 011 9.9M15 13l-3-3m0 0l-3 3m3-3v12" />
+        <path stroke-linecap="round" stroke-linejoin="round" stroke-width="2"
+          d="M7 16a4 4 0 01-.88-7.903A5 5 0 1115.9 6L16 6a5 5 0 011 9.9M15 13l-3-3m0 0l-3 3m3-3v12" />
       </svg>
       <div class="text-left">
         <span class="text-4xl font-extrabold block">Drop to Load Data</span>
diff --git a/steps/src/dataExplorer.js b/steps/src/dataExplorer.js
index 82c4215..f0a427c 100644
--- a/steps/src/dataExplorer.js
+++ b/steps/src/dataExplorer.js
@@ -2,6 +2,7 @@
 
 import { appState } from './state.js';
 import { throttle } from './utils.js';
+import { makeDraggableAndResizable } from './ui.js';
 import { 
     canvasContainer, 
     explorerBtn,
@@ -268,97 +269,6 @@ export function throttledUpdateExplorer() {
 }
 // --- END: New Robust Update Logic ---
 
-// --- START: Resizable and Draggable Panel Logic ---
-function makePanelInteractive(panel) {
-    const header = document.getElementById('data-explorer-header');
-    const resizers = panel.querySelectorAll('.resizer');
-    const minWidth = 400;
-    const minHeight = 300;
-
-    let original_width = 0;
-    let original_height = 0;
-    let original_x = 0;
-    let original_y = 0;
-    let original_mouse_x = 0;
-    let original_mouse_y = 0;
-
-    // --- Dragging Logic ---
-    header.addEventListener('mousedown', (e) => {
-        e.preventDefault();
-        original_x = panel.offsetLeft;
-        original_y = panel.offsetTop;
-        original_mouse_x = e.pageX;
-        original_mouse_y = e.pageY;
-        document.body.classList.add('dragging');
-        window.addEventListener('mousemove', dragPanel);
-        window.addEventListener('mouseup', stopDrag);
-    });
-
-    function dragPanel(e) {
-        const dx = e.pageX - original_mouse_x;
-        const dy = e.pageY - original_mouse_y;
-        panel.style.left = `${original_x + dx}px`;
-        panel.style.top = `${original_y + dy}px`;
-    }
-
-    function stopDrag() {
-        document.body.classList.remove('dragging');
-        window.removeEventListener('mousemove', dragPanel);
-        window.removeEventListener('mouseup', stopDrag);
-    }
-
-    // --- Resizing Logic ---
-    resizers.forEach(resizer => {
-        resizer.addEventListener('mousedown', (e) => {
-            e.preventDefault();
-            original_width = parseFloat(getComputedStyle(panel, null).getPropertyValue('width').replace('px', ''));
-            original_height = parseFloat(getComputedStyle(panel, null).getPropertyValue('height').replace('px', ''));
-            original_x = panel.getBoundingClientRect().left;
-            original_y = panel.getBoundingClientRect().top;
-            original_mouse_x = e.pageX;
-            original_mouse_y = e.pageY;
-            
-            const resizeFunc = (event) => resizePanel(event, resizer.classList);
-            
-            document.body.classList.add('resizing');
-            window.addEventListener('mousemove', resizeFunc);
-            window.addEventListener('mouseup', () => {
-                document.body.classList.remove('resizing');
-                window.removeEventListener('mousemove', resizeFunc);
-            });
-        });
-    });
-
-    function resizePanel(e, direction) {
-        // --- START: Fix for Resizing Logic ---
-        // The logic is updated to handle corners correctly by checking for 't', 'b', 'l', 'r' substrings.
-        // This allows a corner like 'resizer-br' to trigger both bottom and right resizing logic.
-        if (direction.toString().includes('r')) { // Check for right edge
-            const width = original_width + (e.pageX - original_mouse_x);
-            if (width > minWidth) panel.style.width = `${width}px`;
-        }
-        if (direction.toString().includes('b')) { // Check for bottom edge
-            const height = original_height + (e.pageY - original_mouse_y);
-            if (height > minHeight) panel.style.height = `${height}px`;
-        }
-        if (direction.toString().includes('l')) { // Check for left edge
-            const newWidth = original_width - (e.pageX - original_mouse_x);
-            if (newWidth > minWidth) {
-                panel.style.width = `${newWidth}px`;
-                panel.style.left = `${original_x + (e.pageX - original_mouse_x)}px`;
-            }
-        }
-        if (direction.toString().includes('t')) { // Check for top edge
-            const newHeight = original_height - (e.pageY - original_mouse_y);
-            if (newHeight > minHeight) {
-                panel.style.height = `${newHeight}px`;
-                panel.style.top = `${original_y + (e.pageY - original_mouse_y)}px`;
-            }
-        }
-        // --- END: Fix for Resizing Logic ---
-    }
-}
-
 function initializePanelPosition(panel) {
     // Remove Tailwind classes that conflict with dynamic positioning/sizing
     panel.classList.remove('bottom-24', 'right-4', 'w-full', 'max-w-2xl', 'h-1/2');
@@ -388,7 +298,7 @@ export function initializeDataExplorer() {
 
     // --- START: Make panel interactive ---
     initializePanelPosition(panel);
-    makePanelInteractive(panel);
+    makeDraggableAndResizable(panel, document.getElementById('data-explorer-header'));
     // --- END: Make panel interactive ---
     // --- Wire up all event listeners ---
 
diff --git a/steps/src/p5/radarSketch.js b/steps/src/p5/radarSketch.js
index c50c7f4..f7082c4 100644
--- a/steps/src/p5/radarSketch.js
+++ b/steps/src/p5/radarSketch.js
@@ -409,6 +409,12 @@ export const radarSketch = function (p) {
       // --- END: Frame-Rate Independent Smoothing ---
 
       // Use the smoothed coordinates for all subsequent zoom-related calculations.
+      
+      // Store current transformed mouse coordinates (un-scaled back by original zoom factor)
+      // because zoomedMouseX is transformed by zoom and translation.
+      // Easiest is to check actual raw cursor coords on the canvas.
+      appState.isMouseOutOfBounds = p.mouseX < 0 || p.mouseX > p.width || p.mouseY < 0 || p.mouseY > p.height;
+
       const hoveredItems = handleCloseUpDisplay(p, plotScales, smoothedMouseX, smoothedMouseY);
       // --- END: Mouse Smoothing Logic ---
 
@@ -451,18 +457,21 @@ export const radarSketch = function (p) {
       p.ellipse(smoothedMouseX, smoothedMouseY, hoverRadius * 2, hoverRadius * 2); // Use smoothed values
       p.pop();
       // --- END: Draw Zoom Area Rectangle & Debug Circle ---
-
       if (hoveredItems.length > 0) {
-        // If we are hovering, cancel any existing countdown.
-        clearTimeout(appState.zoomHideDelayTimeout);
-        appState.zoomHideDelayTimeout = null;
-        clearInterval(appState.zoomCountdownInterval);
-        appState.zoomCountdownInterval = null;
+        if (appState.zoomHideDelayTimeout) {
+           clearTimeout(appState.zoomHideDelayTimeout);
+           appState.zoomHideDelayTimeout = null;
+        }
+        if (appState.zoomCountdownInterval) {
+           clearInterval(appState.zoomCountdownInterval);
+           appState.zoomCountdownInterval = null;
+        }
         appState.zoomCountdown = null;
 
-        if (zoomPanel.style.display !== "block") {
-          zoomPanel.style.display = "block";
+        if (zoomPanel && zoomPanel.classList.contains("hidden") && !appState.zoomPanelExplicitlyClosed) {
+           zoomPanel.classList.remove("hidden");
         }
+        
         if (
           appState.zoomSketchInstance &&
           appState.zoomSketchInstance.updateAndDraw
@@ -474,11 +483,30 @@ export const radarSketch = function (p) {
             plotScales
           );
         }
-      } else if (zoomPanel.style.display === "block") {
+      } else {
         // --- START: FIX for Grace Period Freeze ---
-        // If NOT hovering, but the panel is still visible, we must continue
-        // to update the zoom sketch so it follows the mouse.
+        // If NOT hovering, we must continue to update the zoom sketch 
+        // so it follows the mouse. 
         // We pass an empty array for hoveredItems, so no tooltip is drawn.
+        
+        // Auto-hide the panel after 5 seconds of inactivity with countdown
+        if (zoomPanel && !zoomPanel.classList.contains("hidden")) {
+            if (!appState.zoomHideDelayTimeout && !appState.zoomCountdownInterval) {
+                appState.zoomHideDelayTimeout = setTimeout(() => {
+                    appState.zoomHideDelayTimeout = null;
+                    appState.zoomCountdown = 3;
+                    appState.zoomCountdownInterval = setInterval(() => {
+                        appState.zoomCountdown--;
+                        if (appState.zoomCountdown <= 0) {
+                            clearInterval(appState.zoomCountdownInterval);
+                            appState.zoomCountdownInterval = null;
+                            appState.zoomCountdown = null;
+                            zoomPanel.classList.add("hidden");
+                        }
+                    }, 1000);
+                }, 5000);
+            }
+        }
         if (
           appState.zoomSketchInstance &&
           appState.zoomSketchInstance.updateAndDraw
@@ -491,51 +519,21 @@ export const radarSketch = function (p) {
           );
         }
         // --- END: FIX for Grace Period Freeze ---
-        // 2. If a "hide" timer isn't already running, start one.
-        if (!appState.zoomHideDelayTimeout && !appState.zoomCountdownInterval) {
-          // Start a 2-second delay before the countdown begins.
-          appState.zoomHideDelayTimeout = setTimeout(() => {
-            appState.zoomHideDelayTimeout = null; // Clear the delay timer ID
-            // Now, start the actual 3-second countdown interval.
-            appState.zoomCountdown = Math.floor(COOLING_PERIOD_MS / 1000);
-            appState.zoomCountdownInterval = setInterval(() => {
-              appState.zoomCountdown--;
-              if (appState.zoomCountdown <= 0) {
-                // When countdown finishes, hide panel and clear interval.
-                clearInterval(appState.zoomCountdownInterval);
-                appState.zoomCountdownInterval = null;
-                appState.zoomCountdown = null;
-                zoomPanel.style.display = "none";
-              } else {
-                // Force a redraw of the zoom sketch to show the new countdown value.
-                // This call is still needed inside the interval to update the countdown text.
-                if (appState.zoomSketchInstance && appState.zoomSketchInstance.updateAndDraw) {
-                  // Pass empty hoveredItems to show the countdown text.
-                  appState.zoomSketchInstance.updateAndDraw(
-                    smoothedMouseX,
-                    smoothedMouseY,
-                    [],
-                    plotScales);
-                }
-              }
-            }, 1000);
-          }, 1000); // 1000ms = 1 second delay
-        }
       }
     } else {
-      // --- START: Cleanup Logic ---
-      // When zoom mode is turned off, ensure all timers are cleared.
+      p.cursor(p.AUTO); // Reset cursor when exiting god mode
+      
+      // Clear timers when explicitly turned off
       if (appState.zoomHideDelayTimeout) {
-        clearTimeout(appState.zoomHideDelayTimeout);
-        appState.zoomHideDelayTimeout = null;
+          clearTimeout(appState.zoomHideDelayTimeout);
+          appState.zoomHideDelayTimeout = null;
       }
       if (appState.zoomCountdownInterval) {
-        clearInterval(appState.zoomCountdownInterval);
-        appState.zoomCountdownInterval = null;
+          clearInterval(appState.zoomCountdownInterval);
+          appState.zoomCountdownInterval = null;
       }
-      // --- END: Cleanup Logic ---
-      p.cursor(p.AUTO); // Reset cursor when exiting god mode
-      zoomPanel.style.display = "none";
+      appState.zoomCountdown = null;
+      
       isFirstFrame = true; // Reset for the next time zoom mode is enabled
     }
     // --- Legend Drawing ---
diff --git a/steps/src/p5/zoomSketch.js b/steps/src/p5/zoomSketch.js
index e9e05cb..a4e2249 100644
--- a/steps/src/p5/zoomSketch.js
+++ b/steps/src/p5/zoomSketch.js
@@ -454,8 +454,34 @@ export const zoomSketch = function (p) {
     p.pop();
     // --- END: DRAW TITLE OVERLAY ---
 
+    // --- START: Draw Out of Bounds Overlay ---
+    if (appState.isMouseOutOfBounds && appState.isCloseUpMode) {
+      p.push();
+      // Semi-transparent black background
+      p.fill(0, 0, 0, 150);
+      p.noStroke();
+      p.rectMode(p.CENTER);
+      p.rect(p.width / 2, p.height / 2, p.width, p.height);
+
+      // Draw the text
+      p.fill(255, 100, 100); // Red warning color
+      p.textAlign(p.CENTER, p.CENTER);
+      p.textSize(18);
+      p.textStyle(p.BOLD);
+      
+      const yOffsetOffset = (appState.zoomCountdown !== null && appState.zoomCountdown > 0) ? 20 : 0;
+      p.text("Mouse pointer Out of Bounds", p.width / 2, p.height / 2 - yOffsetOffset);
+      
+      if (appState.zoomCountdown !== null && appState.zoomCountdown > 0) {
+        p.fill(255);
+        p.textStyle(p.NORMAL);
+        p.text(`Closing in ${appState.zoomCountdown}...`, p.width / 2, p.height / 2 + 20);
+      }
+      p.pop();
+    }
+    // --- END: Draw Out of Bounds Overlay ---
     // --- START: Draw Countdown Overlay ---
-    if (appState.zoomCountdown !== null && appState.zoomCountdown > 0) {
+    else if (appState.zoomCountdown !== null && appState.zoomCountdown > 0) {
       p.push();
       // Semi-transparent black background for readability
       p.fill(0, 0, 0, 150);
diff --git a/steps/src/state.js b/steps/src/state.js
index 805ecac..2989b50 100644
--- a/steps/src/state.js
+++ b/steps/src/state.js
@@ -13,6 +13,9 @@ export const appState = {
   isRawOnlyMode: false, // <-- ADD THIS LINE
   videoReadyByFallback: false, // True if video resolved via loadedmetadata timeout
   videoMissing: false, // True if user opts to continue without a video
+  isMouseOutOfBounds: false, // True when the mouse is outside the radar sketch canvas
+  zoomPanelExplicitlyClosed: false, // True if user clicked X on the zoom panel during zoom mode
+  gridStackInstance: null, // Holds reference to the main GridStack instance
 
 
   // Stores the parsed visualization data (radar frames, tracks, etc.)
diff --git a/steps/src/ui.js b/steps/src/ui.js
index 47e22ce..6394452 100644
--- a/steps/src/ui.js
+++ b/steps/src/ui.js
@@ -50,6 +50,102 @@ import {
   startChangelogBtn,
 } from "./dom.js";
 
+// --- START: Resizable and Draggable Panel Logic ---
+export function makeDraggableAndResizable(panel, header, minWidth = 400, minHeight = 300) {
+    if (!panel || !header) return;
+    const resizers = panel.querySelectorAll('.resizer');
+
+    let original_width = 0;
+    let original_height = 0;
+    let original_x = 0;
+    let original_y = 0;
+    let original_mouse_x = 0;
+    let original_mouse_y = 0;
+
+    // --- Dragging Logic ---
+    header.addEventListener('mousedown', (e) => {
+        // Prevent drag if clicking buttons
+        if (e.target.tagName === 'BUTTON' || e.target.closest('button')) return;
+        e.preventDefault();
+        
+        // Ensure panel floats on top
+        panel.style.zIndex = 100;
+        
+        original_x = panel.offsetLeft;
+        original_y = panel.offsetTop;
+        original_mouse_x = e.pageX;
+        original_mouse_y = e.pageY;
+        document.body.classList.add('dragging');
+        window.addEventListener('mousemove', dragPanel);
+        window.addEventListener('mouseup', stopDrag);
+    });
+
+    function dragPanel(e) {
+        const dx = e.pageX - original_mouse_x;
+        const dy = e.pageY - original_mouse_y;
+        panel.style.left = `${original_x + dx}px`;
+        panel.style.top = `${original_y + dy}px`;
+    }
+
+    function stopDrag() {
+        document.body.classList.remove('dragging');
+        window.removeEventListener('mousemove', dragPanel);
+        window.removeEventListener('mouseup', stopDrag);
+    }
+
+    // --- Resizing Logic ---
+    resizers.forEach(resizer => {
+        resizer.addEventListener('mousedown', (e) => {
+            e.preventDefault();
+            panel.style.zIndex = 100;
+            original_width = parseFloat(getComputedStyle(panel, null).getPropertyValue('width').replace('px', ''));
+            original_height = parseFloat(getComputedStyle(panel, null).getPropertyValue('height').replace('px', ''));
+            original_x = panel.getBoundingClientRect().left;
+            original_y = panel.getBoundingClientRect().top;
+            original_mouse_x = e.pageX;
+            original_mouse_y = e.pageY;
+            
+            const resizeFunc = (event) => resizePanel(event, resizer.classList);
+            
+            document.body.classList.add('resizing');
+            window.addEventListener('mousemove', resizeFunc);
+            window.addEventListener('mouseup', () => {
+                document.body.classList.remove('resizing');
+                window.removeEventListener('mousemove', resizeFunc);
+                if (panel.id === 'zoom-panel' && appState.zoomSketchInstance) {
+                    appState.zoomSketchInstance.handleResize();
+                }
+            });
+        });
+    });
+
+    function resizePanel(e, direction) {
+        if (direction.toString().includes('r')) {
+            const width = original_width + (e.pageX - original_mouse_x);
+            if (width > minWidth) panel.style.width = `${width}px`;
+        }
+        if (direction.toString().includes('b')) {
+            const height = original_height + (e.pageY - original_mouse_y);
+            if (height > minHeight) panel.style.height = `${height}px`;
+        }
+        if (direction.toString().includes('l')) {
+            const newWidth = original_width - (e.pageX - original_mouse_x);
+            if (newWidth > minWidth) {
+                panel.style.width = `${newWidth}px`;
+                panel.style.left = `${original_x + (e.pageX - original_mouse_x)}px`;
+            }
+        }
+        if (direction.toString().includes('t')) {
+            const newHeight = original_height - (e.pageY - original_mouse_y);
+            if (newHeight > minHeight) {
+                panel.style.height = `${newHeight}px`;
+                panel.style.top = `${original_y + (e.pageY - original_mouse_y)}px`;
+            }
+        }
+    }
+}
+// --- END: Resizable and Draggable Panel Logic ---
+
 function toggleMenu(show) {
   if (show) {
     collapsibleMenu.classList.remove("-translate-x-full");
@@ -121,15 +217,31 @@ function handleColorToggles(e) {
 export function initUIEventListeners() {
   // --- Initialize GridStack ---
   if (typeof GridStack !== 'undefined') {
-    GridStack.init({
+    appState.gridStackInstance = GridStack.init({
       margin: 10,
-      cellHeight: '6vh', // Radar is 12h=72vh, Video is 8h=48vh, Graph is 4h=24vh
+      cellHeight: '6vh',
       disableOneColumnMode: true,
       animate: true,
-      handle: '.grid-stack-item-content > .cursor-grab', // use the specific drag handle we added
+      handle: '.grid-stack-item-content > .cursor-grab',
     });
   }
 
+  // --- Initialize Floating Zoom Panel ---
+  const zoomPanel = document.getElementById("zoom-panel");
+  const zoomHeader = document.getElementById("zoom-panel-header");
+  const closeZoomBtn = document.getElementById("close-zoom-btn");
+  
+  if (zoomPanel && zoomHeader) {
+      makeDraggableAndResizable(zoomPanel, zoomHeader, 300, 200);
+      
+      if (closeZoomBtn) {
+          closeZoomBtn.addEventListener("click", () => {
+              zoomPanel.classList.add("hidden");
+              appState.zoomPanelExplicitlyClosed = true;
+          });
+      }
+  }
+
   // --- Shortcuts Modal ---
   shortcutsBtn.addEventListener("click", (e) => {
       e.preventDefault();
@@ -285,6 +397,15 @@ export function initUIEventListeners() {
 
   toggleCloseUp.addEventListener("change", () => {
     appState.isCloseUpMode = toggleCloseUp.checked;
+    appState.zoomPanelExplicitlyClosed = false; // Reset the close flag so it can reappear
+    
+    // Auto-hide the panel when the user disables Close-Up mode (e.g. by pressing 'g')
+    if (!appState.isCloseUpMode) {
+        const zoomPanel = document.getElementById("zoom-panel");
+        if (zoomPanel && !zoomPanel.classList.contains("hidden")) {
+            zoomPanel.classList.add("hidden");
+        }
+    }
     if (appState.isCloseUpMode && appState.isPlaying) {
       // If entering close-up mode while playing, automatically pause.
       pausePlayback();
