Audacity means boldness, impudence, according to Stormonth.
Audacious means very bold, daring, impudent.

It may have been bold to run out the Teaser, and the enemy would even call it impudent, for the meaning of a word sometimes depends upon which side you belong to.

My father was quite as impudent as I was when he ran the Bellevite out of Mobile Bay, under the guns of Fort Morgan.

He was audacious, wasn't he ?" "We should hardly apply that word to him." "Why not?
Simply because my father was forty-five years old when he told Captain Breaker to do it.

If I were only thirty years old I should not be audacious.