BART Legacy & Fleet of the Future Trains Arriving and Departing West Oakland + Transbay Tube Ride

While in the Bay Area recently, I decided to grab some videos of BART. BART is a rapid transit system, the name itself stands for Bay Area Rapid Transit. The system is made up of underground and overground rail/stations.
As of right now BART is in the process of replacing its older cars with a new fleet. In this video you will see both Legacy and Fleet of the Future cars. The Legacy cars have a few different types. The ones with the slanted front are the original cars, which were made by Rohr. The cars with the flat front were made later on by a company called Alstom, they very closely tried to replicate the other cars. Later down the road, the next set of cars were made by a company called Morrison-Knudsen. This company used the same design as Alstom with a flat front. The Fleet of the Future trans are made by Bombardier. All trains on both Fleets are almost fully automated. The trains do have operators, but most of the time they are just responsible for closing the doors, sounding the horn, and announcing upcoming stations. BART operators can operate the trains manually if something happens. All the trains have amazing sounding acceleration and deceleration too.
I caught a few interesting things in this video. First off, at 1:12 a train pulled into the wrong side of the platform. Sadly, I was not able to catch it pulling into the station, but I got it departing. Second, at 1:44 a Fleet of the Future car undershot the platform. It took two more tries, but eventually it was able to line itself up.
I also included a video of the trip from West Oakland to Embarcadero station. This involves going through the Transbay Tube. The Transbay Tube is a underwater railway tunnel that connects Oakland to San Francisco. The tunnel goes completely under the bay, this allows for the trains to speed up a lot. In fact, this is the fastest part of BART. The trains screech and make lots of noise going through the Transbay Tube. This is mostly due to the trains wheels scratching against the rails.