Wanted to add one more thing. After my last lane departure incident, I wrote to James Davis (who runs msgroup.org) and asked for advice. He replied quickly with a detailed response but one line really stuck with me: "Never ride at 100% of your ability or you will have no more to give should something unexpected occur".
How remarkably true and well-put is that? I think about it several times on every ride. Approaching a curve I have taken dozens of times before, I know I can take it comfortably at 20mph above the speed limit but yet I stick with the speed limit or barely above, to give my skill some wiggle room (pun not intended) should the unexpected happen. Same goes for straight line riding; always leave room for correction.