Boat starts wiggle when i turn in auto or RTL

Boat starts when i do in auto or RTL a wigle for a pair of meters and then starts his way normal to waypoint or home.
Wigle means, 1,2,3 meters starts with left motor then right motor,left,right etc. Ad then he go after that traight. Boat went 1m/s max throtle.

I have done the pid settings. Only pid achieve and pid desired both don’t running at the same time when i do a v in the screen, only single it works.
Have some one the same or now how or where i must look for this problem?
Thanks jeroen