After a quick skim through......
Copilot lacked assertiveness......he was aware of the danger , yet allowed himself to be browbeaten into accepting something he knew was wrong.
The Captain was complacent, lacking in humility and CRM.
IMO, As Commander, it was his duty to heed crew warnings and ask himself why Crew, GPS and Navaids all disagreed with the location he "thought" the Autopilot had them at.
I fail to see the relevance of the Military...they weren't flying the aircraft.
A very sad and sorry tale.."get there-itis?"