[Greg Ross]

Probable the simplest would be something like this:

if ((Tracker_Data[left].Status == NONE_IN_VIEW) &&
    (Tracker_Data[right].Status == NONE_IN_VIEW)) {
			if(rc_dig_in01 ==1 )
		 		{
				pwm13 = 137;
				pwm14=100;
				}
  			else
				{
				pwm13 = pwm14 = 140;
				}
			if(rc_dig_in02 == 1)
				{
				pwm13 = 100;
				pwm14 = 137;
				}
			else
				{
				pwm13 = pwm14 = 140;
				}
}				
else Navigate();

Now, I'm SURE* that won't work as written, but it might give you some ideas.

*Potential problems:
The Tracker code probably STARTS out in NONE_IN_VIEW state, so the Navigate code will never get a chance to get a fix on the beacons. And I'm sure there are others, but I'm rushing right now, and can't think of them.