You noticed the double slash in the URL and the two "manager" parts!?
You have to set the Tomcat URL in the job plugin configuration to http://demo1-vm.picsauditing.com:8080
See also http://cargo.codehaus.org/Tomcat+7.x at the end of the page:
"With Tomcat 7, the Tomcat manager has multiple aspects to be careful about:
Your browser by default accesses the HTML-based manager whereas CARGO needs to use the text-based manager. As a result, if you want to set the RemotePropertySet.URI manually, please make sure you set the URL for the text-based manager, for example http://production27:8080/manager/text
The text-based manager requires to be accessed by a user with the manager-script role; and by default no user has that role. As a result, please make sure you modify your tomcat-users.xml file to give that role to a user.
You can read more on the Tomcat documentation: http://tomcat.apache.org/tomcat-7.0-doc/manager-howto.html"