OpenMarine

I concur, that it's likely too low of P value for your boat. Try gradually increasing it and if it overshoots you may try to increase D and DD to help mitigate that.

Okay I will make the adjustments as suggested. Thanks so much for all your help.
Unfortunately, I will not be able to update until spring now, I just pulled the boat and winterized the engines.
But my setup is still running and accessible via VNC.
Ill be working on push buttons and a Autopilot panel etc over the winter.