I double checked and it looked like the pinouts were right. I was a little confused by that too, so I decided to start over and change a few things:
1.) stopped using the TIP32C and IRF510 transistors. They're overkill for what we're doing anyway.
2.) used a ZVP2110A p-fet (pin 1 = D, pin 2 = G, pin 3 = S) and a 2N3904 npn BJT (pin 1 = E, pin 2 = B, pin 3 = C
3.) used original configuration (p-fet and npn BJT), with the source of the p-fet tied to 3v3, the drain and collector connected, the base and gate connected, and the collector tied to ground
4.) still used a 1uF capacitor, but tried upping the load resistor to 470 ohms instead of 15
5.) got my Microchip samples today, so I decided to use one of the linear 3.3V regulators with a 5V power supply instead of the 3V3 and GND pins on my Cerebot II
Configured like this, I got an output across the load resistor of 3.161V with the control signal tied low, and 0.071V with it tied high. If I removed the BJT, the only difference I saw was that the output with the control signal tied high was 0.000V, which makes sense because the BJT will have some small intrinsic resistance. If I changed the load to 15 ohms, I was getting the same output with the control signal high, but when the gate and base were grounded there was only a 1.08V drop across the resistor. I tried this exact same thing in the lab today with a benchtop power supply and didn't see this, so all I can figure is that the power supplies I've been using aren't providing quite enough current.