There has been a lot of discussion on this topic and several have recommended using Transferwise.
I just want to let everyone know it was extremely easy and painless to set up online and to do the transfer without ever talking to anyone. It will be at the official bank rate of today and Transferwise charges 1% fee up to $5000 transferred then .7% above that amount with a minimum $3 fee.
They also have several banks (including USAA) that are already set up on their website for instant transfer from your account to theirs.
I've tried several other transfer companies previously as well as calling my bank directly, and this was by far the easiest and best rate.
https://transferwise.com/u/vincents62