Hello!  I'm flying a quad with the 880kv motors and 12x45 props.  I've had moderate success so far with tuning manual flight and loiter.  I've moved on to doing auto mode with waypoints, but at this point I think I need help.  I've attached my flight log, telemetry log, and KMZ flight path.

Basically my problem is that the quad is not flying its waypoints very well.  It is looping around some points, and sometimes it will start and stop in its direction.  You'll see if you look at the kml.  I suspect that my P term for nav is faulty, but I am unsure which way I even have to go to tune it.

Thank you for any help or insight you can give!