I was able to figure out the issue. I was trying to use the Kapsel plugins in the jQuery $(document).ready function. Based on what I've seen online, you should not try to use plugins until the deviceready event has fired. I moved my code to the device ready event. Here's some more information on that event:
http://cordova.apache.org/docs/en/2.5.0/cordova_events_events.md.html
Once I put my code in the device ready event, I had an issue where the event was not firing on iOS. This appeared to be a bug with the version of Cordova that was recommended in the "Getting Started with Kapsel Part 1" document for SP03. I upgraded to the latest version of Cordova and the issue was resolved.