Boat is spinning instead of heading to waypoint during auto missions

We seem to be having issues with the automatic routes we have set for our Bathy Cat in Mission Pilot. The boat works perfectly well manually, however when we switch the controller over to auto mode, it seems to reach the 1st point and circle around that area. Although, sometimes it won’t head towards the point and begin circling. Almost like it’s going into loiter mode.

Please see the link to my logs here

We have already altered the compass offset and also the WP radius as we suspected that would impact the autopilot missions however it doesn’t seem to have made a difference.

Any guidance would be appreciated and let me know if you need to know any hardware information!