Jason Short, who seems to be able to write Flash faster than most people can write English, created a cool interactive Flash demo to explain Crosstrack Error Correction in the APM manual. Check it out here (works in Firefox and IE, but not in Chrome)
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Can any one here explain to me what the bearing error, target bearing, and new bearing mean?
This link and the link to the description will help you if you don't understand cross track and how to correct it.
Cross Track Explained