Ahh, much better.

Today I put the boat back in the water to test the autopilot again.  After making a few autopilot parameter changes and replacing the rudder actuator with one made by Troy and Matt (thanks guys!!!!), the boat follows the course much better.  I could probably make the autopilot track the course more tightly, but on the open ocean, it's not really necessary.  The key thing is that the boat is going in smooth, straight lines.