Hello solinvicta,
Because you are running without electronics, you will need to match your load (motor) to your solar panel to make use of all it's power. To receive this maximum power for different light levels, you will need to change your boat configuration.
In the case of a model solar boat, this is most commonly done by changing your propeller and/or, as Tony and unussapiens have mentioned, rearranging your panel wiring configuration. Less common options may be to change motors or gears (if you aren't running a direct drive system).
If you have the Scorpio panels that I am thinking of then the configuration has been more or less determined for you (series) and so a propeller change will probably be the easiest way to go.
The easiest way to determine your best setup for a particular light level is to just do some testing with your boat if you can. Because your boats are doing well in good sunlight, it sounds like you may need to reduce the size or pitch of your propeller in lower sunlights.
If you haven't already had a look, the Tasmanian website (
http://www.tassolarchallenge.org) has a help file titled "Model Solar Boat Help" written by Ian Gardner on the CHALLENGE HELP page. This is a very useful file and I recommend that you have a bit of a read.
miseli