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.

SeaCharger was at MakerFaire in San Mateo this past weekend.  It was an amazing experience.  This picture was taken on a Friday, which was relatively quiet.  But on Saturday there was a constant stream of people.  Thank you to all of you who came by for your enthusiasm and encouragement!  I committed to about 500 people that I would launch this thing on Memorial Day, so I guess I had better do it.