Reformat, and changes to work with IPython 6.0

After a new Anaconda install I was getting a lot of minor errors
in the notebooks. I've fixed all of those. Along the ways I altered
the format of the PDF output to exclude the In[] Out[] tags so the
code is indented less. I also altered the font size of the notebooks
to better match fonts in other pages on chrome.

FilterPy was updated to 1.1.0, and this check in requires that release
at the minimum.

book_format.py

@@ -35,6 +35,10 @@ if matplotlib.__version__ == '1.4.3':
     warnings.simplefilter(action="ignore", category=FutureWarning)
 
 np.set_printoptions(precision=3)
+try:
+    matplotlib.style.use('default')
+except:
+    pass
 
 def test_filterpy_version():
 
@@ -42,7 +46,7 @@ def test_filterpy_version():
     from distutils.version import LooseVersion
 
     v = filterpy.__version__
-    min_version = "0.1.2"
+    min_version = "1.1.0"
     if LooseVersion(v) < LooseVersion(min_version):
        raise Exception("Minimum FilterPy version supported is {}.\n"
                        "Please install a more recent version.\n"
@@ -56,7 +60,7 @@ def test_filterpy_version():
 test_filterpy_version()
 
 pylab.rcParams['figure.max_open_warning'] = 50
-pylab.rcParams['figure.figsize'] = 9, 4
+pylab.rcParams['figure.figsize'] = 8, 3
 
 
 
@@ -109,17 +113,12 @@ def load_style(directory = '.', name='kf_book/custom.css'):
                 style = json.load(open(os.path.join(directory, "kf_book/538.json")))
             else:
                 style = json.load(open(directory + "/kf_book/538.json"), object_hook=_decode_dict)
-
-            # matplotlib has deprecated the use of axes.color_cycle as of version
-            if version[0] > 1 or (version[0] == 1 and version[1] >= 5):
-                style["axes.prop_cycle"] = "cycler('color', ['#6d904f','#013afe', '#202020','#fc4f30','#e5ae38','#A60628','#30a2da','#008080','#7A68A6','#CF4457','#188487','#E24A33'])"
-                style.pop("axes.color_cycle", None)
             plt.rcParams.update(style)
         except:
             pass
         set_figsize()
         reset_axis ()
-        np.set_printoptions(suppress=True,precision=3, linewidth=70,
+        np.set_printoptions(suppress=True, precision=3, linewidth=70,
                             formatter={'float':lambda x:' {:.3}'.format(x)})
 
         styles = open(os.path.join(directory, name), 'r').read()