turn on 51point AF with 3d tracking, turn off the function for af when you half press, switch the af mode selector to the middle option(single point with tracking), and switch the camera to 'C' on the AF mode switch. place the focus point on the subject you want, hold down the AF-on button and recompose, the af point will move to track the subject. its very accurate and fast cos you dont need to change the point. when you need single point af, just press the af-on button, let go, recompose. manual overide on AFS lenses will work fantastically without the camera trying to refocus every time you hit the shutter button.
also, consider getting the EC-S screen from focusingscreens.com, this way you can tell when the camera is screwing up the focus and you can corrected it with manual focus before you take the shot. it will also allow you to shoot your lenses wide open accurately. i use it with very good results on 35 1.4 AIs and 50 1.2 AIs and 135 f2 AIs
Ben, If you keep the AF mode switch on AF-C, and the AF switch (rear) on AF dynamic (middle).. but switch CSM a3 "Dynamic AF Area" from 3D to 51, you will find that the tracking is actually more accurate.. just that you do not see the AF point moving...