Retrieve milestone target name and date

How do I populate the "Next Milestone" and "Milestone Target Date" in columns L and M in the Status tab from the Milestone Data tab. If the column with dark blue has a date populated, it means the milestone is completed (Yelllow = target and Blue = Completed). What I want is to populate the next not completed target milestone based on the VPMO ID in column D of the status tab. There may be some instances where the target and completion MS is not populated but the next target and completion are (I'm not sure how to handle those). I've tried vlookup, rearranging the MS names and VPMO IDs, but nothing...