I missed the finish line, sailed right round the committee boat and crossed it from below — does that finish count?

Yes. The definition of Finish says a boat finishes when any part of her hull crosses the finishing line from the course side, and coming back up from below the line is exactly that. The loop is fine too: under the definition Sail the Course, the string test only asks that your track, pulled taut, passes each mark on the required side. Nothing stops an extra turn round a mark, and the committee boat at the end of the line is a mark. The loop costs you time, not the finish.

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<iframe width="560" height="315" src="https://www.youtube.com/embed/lvfZ2zFY4Ww" title="Sailing Kiwi" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
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Next on this shelf — The Finish