The bad news is that if your crew did not take the time to read the instructions and understand the use of the equipment
before they left, they're not likely to do so at this point unless someone gets bored on the trip, picks up the instructions for reading matter and discovers their error. Further, as a practical matter after 24 hours at sea they're likely 200+ miles into the trip so there's not much chance of reaching them now unless they have an SSB
and are checking in (although the Coast Guard could put out a notice for ships at sea to keep an eye out for the boat).
The good news is that it's only about 800 miles to Corpus from the Tampa Bay area and at an average of 6 knots, they should make it in 5 daze or so. During that time period the area they are traversing will be dominated by high pressure systems to their north and west so they will largely have winds abeam or over their starboard quarter in the 15 to 25 knot
range which will hasten their trip. Predicted wave heights will also be coming from the northeast and be less than 10' so they should have pretty comfortable travel and az bit of surfing as they near shore.
You'll till be worrying but likely they'll be having the time of their life (of course you can give them heck when they arrive).