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ST1000 Plus & ST2000 Plus Tiller Pilots Owners Handbook
Document number: 81130-6 Date: March 2006
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ST1000 Plus & ST2000 Plus Tiller Pilots
Autohelm, HSB (High Speed Bus), SailPilot, SeaTalk and SportPilot are registered trademarks of Raymarine UK Ltd. Raymarine, AST (Advanced Steering Technology), AutoAdapt, AutoLearn, AutoRelease, AutoSeastate, AutoTack, AutoTrim, FastTrim, GyroPlus, RayGyro, RayPilot and WindTrim are trademarks of Raymarine UK Ltd. Handbook contents Raymarine UK Ltd.

Contents

Contents.... 1 Chapter 1: Introduction....3 1.1 Overview... 3 1.2 Specifications.... 4 1.3 About this handbook.... 5 Important Information... 5 Product disposal... 6 Chapter 2: Using the Tiller Pilot...7 2.1 Overview... 7 2.2 Using Auto mode... 8 Engaging the autopilot (Auto mode).. 8 Disengaging the autopilot (Standby mode).. 8 Changing course... 9 Displaying navigation information pages.. 11 Automatic deadband control (Auto Seastate).. 12 Operating hints trim changes.. 13 2.3 Switching display illumination on and off.. 14 2.4 Using Track mode... 14 Selecting Track mode... 14 Returning to Auto from Track mode... 17 Cross track error (XTE)... 17 Tidal stream compensation... 18 Waypoint arrival and advance.. 18 Dodges in Track mode... 19 Safety in Track mode... 19 Warning messages in Track mode... 20 2.5 Using WindTrim mode... 22 Selecting WindTrim mode... 22 Exiting WindTrim mode.. 23 Returning to the previous apparent wind angle.. 23 Chapter 3: Maintenance & Fault Finding..25 3.1 General maintenance... 25 3.2 Product support... 26 3.3 Fault finding.... 26 Chapter 4: Installing the Tiller Pilot...29 4.1 Planning the installation... 29 4.2 Installing the tiller pin and mounting socket... 31 Measuring the critical dimensions... 31 Basic installation.... 33
ST1000 Plus & ST2000 Plus Tiller Pilots Installation accessories...34 4.3 Cabling and socket installation...40 Mounting the socket....41 Power supply...43 SeaTalk cabling...44 NMEA cabling...47
Chapter 5: Commissioning the Tiller Pilot..49 5.1 Functional tests...49 Switch on....49 Operating sense...49 Checking the navigation interface...50 Checking the wind instrument interface..51 Checking the SeaTalk interface...52 5.2 Initial sea trial....53 Calibrating the compass...53 5.3 Adjusting autopilot performance...56 Chapter 6: Adjusting Tiller Pilot Settings..59 6.1 Introduction...59 Adjusting calibration values...59 Calibration features...61 Default calibration values...61 6.2 Calibrating the tiller pilot...62 Calibration Level 1: Rudder gain...62 Calibration Level 5: cruise speed...62 Calibration Level 6: off course alarm angle..62 Calibration Level 9: magnetic variation..63 Calibration Level 10: heading error correction..63 Calibration Level 11: boats current latitude...64 Calibration Level 13: rudder damping...64 Controlling access to calibration...64
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Chapter 1: Introduction

1.1 Overview
Your Raymarine tiller pilot is a totally self-contained autopilot designed for tiller steered sailboats. The autopilot is mounted between the tiller and a single attachment point on the boats structure. It is designed for owner installation and is ready for use after connection to the boats 12 V electrical system. Operating modes The tiller pilot has four basic operating modes: Standby mode: autopilot off Auto mode: autopilot engaged and locked onto a heading Track mode: autopilot on and maintaining a track between two waypoints created on a navigation system WindTrim mode: autopilot on and maintaining a course relative to an apparent wind angle SeaTalk and NMEA compatibility The tiller pilot is SeaTalk compatible, so it can share data transmitted from other Raymarine SeaTalk instruments: wind information from a wind instrument can be used for wind vane steering without the need to install a separate vane track information, from a navigator, enables the autopilot to provide waypoint control boat speed from a speed instrument can provide optimum track keeping performance

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ST1000 Plus & ST2000 Plus Tiller Pilots SeaTalk compatibility also allows additional fixed and hand-held autopilot control units to be easily connected at secondary steering and control positions The ST1000 Plus and ST2000 Plus tiller pilots can also be used with any navigator transmitting NMEA 0183 or NMEA 0180 data. The tiller pilot can be calibrated to suit each installation to provide maximum performance with many types of boat.

1.2 Specifications

General specifications Power supply: Drive unit thrust torque: Maximum boat displacement: Drive mechanism: Helm speed (lock to lock): Current consumption: 10 V to 15 V DC ST1000 Plus: 57 kg (125 lb) ST2000 Plus: 77 kg (170 lb) ST1000 Plus: kg (lb) ST2000 Plus: kg (lb) ST1000 Plus: lead-screw and nut drive ST2000 Plus: re-circulating ball drive ST1000 Plus: 8 seconds ST2000 Plus: 4.5 seconds Standby: 40 mA (90 mA with full lighting) Auto: 0.5 A to 1.5 A depending on boat trim, helm load and sailing conditions 0C to +70C (32F to 158F) 6 button digital keypad Backlit LCD display of heading, locked course and navigational information User calibration for optimum performance WindTrim control in WindTrim mode SeaTalk compatible Automatic compass deviation correction Northerly/Southerly heading compensation Automatic heading deadband seastate control Automatic tack Built-in navigator interface (NMEA and SeaTalk) Waypoint advance feature
Operating temperature: Main features:
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EMC conformance

All Raymarine equipment and accessories are designed to the best industry standards for use in the recreational marine environment. The design and manufacture of Raymarine equipment and accessories conform to the appropriate Electromagnetic Compatibility (EMC) standards, but correct installation is required to ensure that performance is not compromised.

1.3 About this handbook

This handbook contains important information about installing, using and maintaining your new Raymarine product. To get the best from the product, please read this handbook thoroughly.

Important Information

Warranty
To register your new Raymarine product, please take a few minutes to fill out the warranty card. It is important that you complete the owner information and return the card to us to receive full warranty benefits.
Waste from Electrical and Electronic Equipment (WEEE) Directive
The Waste from Electrical and Electronic Equipment (WEEE) Directive requires the recycling of waste electrical and electronic equipment. Whilst the WEEE Directive does not apply to some of Raymarines products, we support its policy and ask you to be aware of how to dispose of this product. The crossed out wheelie bin symbol, illustrated above, and found on our products signifies that this product should not be disposed of in general waste or landfill. Please contact your local dealer, national distributor or Raymarine Technical Services for information on product disposal.

Handbook information

To the best of our knowledge, the information in this handbook was correct when it went to press. However, Raymarine cannot accept liability for any inaccuracies or omissions it may contain. In addition, our policy of continuous product improvement may change specifications without notice. As a result, Raymarine cannot accept liability for any differences between the product and the handbook.
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Safety notices

WARNING: Product installation This equipment must be installed and operated in accordance with the instructions contained in this handbook. Failure to do so could result in poor product performance, personal injury and/or damage to your boat. WARNING: Electrical safety Make sure the power supply is switched off before you make any electrical connections. WARNING: Navigation aid Although we have designed this product to be accurate and reliable, many factors can affect its performance. As a result, it should only be used as an aid to navigation and should never replace common sense and navigational judgement. Always maintain a permanent watch so you can respond to situations as they develop. Your Raymarine autopilot will add a new dimension to your boating enjoyment. However, it is the skippers responsibility to ensure the safety of the boat at all times by following these basic rules: Ensure that someone is present at the helm AT ALL TIMES, to take manual control in an emergency. Make sure that all crew members know how to disengage the autopilot. Regularly check for other boats and any obstacles to navigation no matter how clear the sea may appear, a dangerous situation can develop rapidly. Maintain an accurate record of the boats position by using either a navigation aid or visual bearings. Maintain a continuous plot of your boats position on a current chart. Ensure that the locked autopilot heading will steer the boat clear of all obstacles. Make proper allowance for tidal set the autopilot cannot. Even when your autopilot is locked onto the desired track using a navigation aid, always maintain a log and make regular positional plots. Navigation signals can produce significant errors under some circumstances and the autopilot will not be able to detect these errors.

Automatic deadband control (Auto Seastate)
In Auto, WindTrim or Track modes, the tiller pilot is set to AutoSeastate (automatic deadband control) as a default. This causes the pilot to gradually ignore repetitive movements of the boat and respond only to true course variations. By preventing unnecessary rudder movement, AutoSeastate provides the best compromise between power consumption and course keeping accuracy. If you want to switch off the AutoSeastate feature: 1. From Auto, WindTrim or Track mode, press -1 and +1 together to switch from AutoSeastate to Fixed Minimum Deadband. 2. The sign flashes when Fixed Minimum Deadband is selected. Minimum deadband provides the tightest course keeping possible, at the expense of increased power consumption and drive unit activity.

D360-3a

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Chapter 2: Using the Tiller Pilot To switch back to AutoSeastate, press -1 and +1 again.
Note: The autopilot reverts to Automatic Deadband Control each time you select Standby
Operating hints trim changes
CAUTION: Only make major course changes when steering MANUALLY. This ensures that the boat will safely clear any obstructions or other boats, and you can take into account the changed wind and sea conditions on the new heading before engaging the autopilot. Large course changes which change the apparent wind direction can produce large trim changes. When a sudden trim change occurs (for example due to weather helm or sail imbalance) there will be a delay of up to one minute before the automatic trim applies rudder to restore the locked heading. In these situations, the autopilot will not immediately assume the new automatic heading, and will only settle onto course when the automatic trim has been fully established. To minimize this problem, use the following procedure to make major course changes: 1. 2. 3. 4. 5. Note the required new heading. Press standby, remove the pushrod from the tiller pin, and steer manually. Bring boat onto the new heading and fit the pushrod back onto the tiller pin. Press auto and let the boat settle on course. Bring your boat onto the final course in 1 steps using -1 or +1.

Gusting conditions

In gusting conditions, the course may tend to wander slightly, particularly if the sails are badly balanced. By improving sail balance, you can improve course keeping. If you take the following precautions, the autopilot will be able to maintain competent control even in gale force conditions: Do not allow the boat to heel over excessively. Ease the mainsheet traveller to leeward to reduce heeling and weather helm. If necessary, reef the mainsail a little early. It is also advisable (whenever possible) to avoid sailing with the wind dead astern when there are very strong winds and large seas. Ideally, the wind should be at least 30 away from a dead run.

Selecting WindTrim mode

From Standby mode or Auto mode, press standby and auto together to select WindTrim. The tiller pilot will then maintain the current apparent wind angle.
Note: The tiller pilot beeps once every 30 seconds in WindTrim mode.

D5558-1

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Exiting WindTrim mode

To exit WindTrim mode: press standby to return to Standby mode press auto to return to Auto mode
Returning to the previous apparent wind angle
If you have steered the boat away from the selected apparent wind angle (for example, performing a dodge maneuver or selecting Standby) you can return to the previous apparent wind angle:

D360-3

1. Press and hold standby and auto together for 1 second. 2. The display flashes the previous locked heading for 10 seconds. 3. While the display is flashing, press standby and auto together to select the previous heading: when you select the previous heading, the W flashes for 10 seconds to confirm the selection

Wind shift alarm

If changes in apparent wind angle alter the original locked compass heading by more than 15, the wind shift alarm will sound. The display alternates between the current WindTrim heading and the direction of wind shift.

D209-2

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24 To cancel the wind shift alarm:
check that the new course does not take the boat into danger press standby and auto together momentarily to accept the alarm and reset the wind shift alarm value to the current compass heading
Operating hints for WindTrim mode
WindTrim filters the wind vane output. This provides optimum response for offshore conditions where genuine shifts in wind direction occur gradually. In gusting and unsteady inshore conditions, it is best to sail a few degrees further off the wind so that changes in apparent wind direction can be tolerated. It is important to minimize the amount of standing helm through careful sail trimming and positioning of the mainsheet traveller. It is recommended that the headsail and mainsail are reefed a little early rather than too late.
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Chapter 3: Maintenance & Fault Finding
This chapter provides information about maintaining your tiller pilot system, obtaining product support and solving common problems.

3.1 General maintenance

CAUTION: The working parts of the tiller drive are sealed and lubricated for life during manufacture.The tiller pilot does not contain any user serviceable parts. It should be repaired only by authorized Raymarine service representatives.

Display condensation

In certain conditions, condensation may appear on the LCD window. This will not harm the unit, and can be cleared by switching on the illumination for a while.

Routine cabling checks

Make sure all connections are firmly attached. Examine the cable for signs of wear or damage replace any damaged cables.
Cleaning the tiller pilot
If the tiller pilot is dirty, wipe it with a clean, damp cloth. Never use chemical or abrasive materials to clean the tiller pilot.

EMC advice

When powered up, all electrical equipment produces electromagnetic fields. These can cause adjacent pieces of electrical equipment to interact with one another, with a consequent adverse effect on operation. To minimize these effects and enable you to get the best possible performance from your Raymarine equipment, guidelines are given in the installation instructions, to enable you to ensure minimum interaction between different items of equipment, i.e. ensure optimum Electromagnetic Compatibility (EMC). Always report any EMC-related problems to your nearest Raymarine dealer. We use such information to improve our quality standards. In some installations, it may not be possible to prevent the equipment from being affected by external influences. In general this will not damage the
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ST1000 Plus & ST2000 Plus Tiller Pilots equipment but it can lead to spurious resetting action, or momentarily may result in faulty operation.

3.2 Product support

Raymarine products are supported by a worldwide network of distributors and Authorized Service Representatives. Before you consider returning the autopilot, make sure that the power supply cable is sound and that all connections are tight and free from corrosion. If the connections are secure, refer to the following Fault Finding section. If you cannot trace or rectify the fault, contact either your national distributor, service representative, or the Raymarine Technical Services Call Center. Refer to the back cover or the Worldwide Distributor List for contact details. Always quote the product serial number (this number is printed on the underside of the tiller pilot).

3.3 Fault finding

All Raymarine products are designed to provide many years of trouble-free operation. We also put them through comprehensive testing and quality assurance procedures before shipping. In the unlikely event that a fault does occur with your autopilot, use the following table to help identify the problem and provide a solution. If you cannot resolve the problem yourself, contact either your national distributor, service representative, or the Raymarine Technical Services Call Center.
SYMPTOM The autopilot display is blank. SOLUTION No power check the fuse/circuit breaker.
The displayed compass heading does The compass has not been corrected for not agree with the boats compass. deviation carry out the deviation and alignment procedures (see page 53). Boat turns slowly and takes a long time to come on to course. Rudder gain too low (see page 56).
Boat overshoots when turning on to Rudder gain too high (see page 56). a new course.
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SYMPTOM SOLUTION

The autopilot appears to be unstable Northerly/Southerly heading correction on Northerly headings in the North- not set up (see page 63). ern hemisphere (or Southerly headings in the Southern hemisphere). Display shows CAL OFF when enter- Calibration access has been prevented ing calibration. (see page 64). The autopilot will not talk to other SeaTalk instruments. Position information not received. The autopilot will not auto advance to the next waypoint. Cabling problem make sure all the cables are connected properly. Navigator not transmitting the correct position data. No bearing to waypoint information received from the navigator.
The screen shows a series of rotating Compass deviation correction is running. dashes. The display shows a series of station- Data is not being received check the ary dashes. cabling. The display shows Err. The navigator has lost its fix refer to the navigator handbook for further action.

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If a suppression ferrite is attached to a cable, this ferrite should not be removed. If the ferrite needs to be removed during installation it must be reassembled in the same position.

EMC suppression ferrites

We supply the fluxgate compass and power cables with suppression ferrites fitted. Always use these ferrites supplied by Raymarine.

D3548-2

Connections to other equipment If your Raymarine equipment is to be connected to other equipment using a cable not supplied by Raymarine, a suppression ferrite MUST always be attached to the cable near to the Raymarine unit.
4.2 Installing the tiller pin and mounting socket
CAUTION: As the tiller pilot has a built-in compass, make sure that the boats steering compass is at least 750 mm (2 ft 6 in) away to avoid deviation.
Measuring the critical dimensions
The tiller pilot is mounted between the tiller and a fixed point on the structure of your boat.Two dimensions are critical to ensure correct installation: Dimension A = 589 mm (23.2 in): the distance from the mounting socket to the tiller pin
Note: This dimension increases if your installation requires a pushrod extension (see page 34) or cantilever mount (see page 37).
Dimension B = 460 mm (18 in): the distance from the rudder stocks center line to the tiller pin
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47.5 mm (1.9 in)

'A' 589 mm (23.2 in)
445 mm (17.5 in) 95 mm (3.7 in) 610 mm (24.0 in) 'B' 460 mm (18 in)

46 'B' 90

Rudder axis

Sloping rudderstock

D3198-2
To measure the critical dimensions: 1. Clamp the tiller on the boats center line. 2. Mark dimensions A and B and use masking tape to locate the fixing points.
Note: For standard installations, dimension A is measured on the starboard side of the
cockpit. If you need to mount the tiller pilot on the port side of the cockpit, you can measure dimension A to port. However you will need to reverse the tiller pilots operating sense when you have completed installation (see page 49).
3. Make sure that: dimensions A and B are at right angles to each other (as shown on the diagram opposite) the tiller pilot is mounted horizontally
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Basic installation

After establishing control dimensions A and B, you can usually mount the tiller pilot directly onto the cockpit seat.

12.5 mm (0.5 in)

D3192-2

Installing the tiller pin
1. Drill a 6 mm (1/4 in) diameter hole to a depth of 25 mm (1 in) at the fixing point you have marked on the tiller. 2. Use a two part epoxy (e.g. Araldite) to fix the tiller pin in place. 3. Position the shoulder of the pin so it is 12.5 mm (1/2 in) above the tiller surface.
Installing the mounting socket
1. Drill a 12.5 mm (1/2 in) hole to a depth of 25 mm (1 in) at the fixing point you have marked on the cockpit seat. 2. If the structure at the mounting position is less than 25 mm (1 in) thick, reinforce the underside with plywood bonded into position. 3. Fix the mounting socket in place using a two part epoxy.
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ST1000 Plus & ST2000 Plus Tiller Pilots CAUTION: As the tiller pilot is capable of generating high pushrod loads, you MUST: drill all holes to the specified size and reinforce where necessary allow the epoxy to harden thoroughly before applying a load

Installation accessories

If you are not able to install the tiller pilot directly onto the cockpit seat or tiller as described, one (or a combination) of the following installation accessories: pushrod extensions tiller brackets cantilever sockets pedestal sockets alternative tiller pins

Pushrod Extensions

If you need to increase the pushrod length (because of the distance from the mounting socket location to the center line), use a Raymarine pushrod extension. Identifying the correct pushrod extension 1. Clamp the tiller on the boats center line. 2. Measure dimension C. 3. Select the appropriate pushrod extension length (and part number) using the following table.
Dimension C 589 mm (23.2 in) 615 mm (24.2 in) 640 mm (25.2 in) 665 mm (26.2 in) 691 mm (27.2 in) 716 mm (28.2 in) 742 mm (29.2 in) Pushrod extension length L Standard dimension 25 mm (1 in) 51 mm (2 in) 76 mm (3 in) 102 mm (4 in) 107 mm (5 in) 152 mm (6 in) Part no. D003 D004 D005 D006 D007 D008
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Note: When the tiller pilot is not in use, you can unscrew the complete rod assembly to
leave the cockpit unobstructed.

Alternative tiller pins

Your Raymarine dealer can also supply the following alternative lengths of tiller pin for other non-standard installations.
Description Small threaded tiller pin Extra length tiller pin Extra length threaded tiller pin Size 25 mm (1.0 in) 72 mm (2.8 in) 72 mm (2.8 in) Part no. D014 D020 D021
4.3 Cabling and socket installation
Both power and data are supplied to the tiller pilot via a waterproof plug and socket. The plug comes ready assembled and the socket can be mounted in the cockpit area adjacent to the tiller pilot.
+12 V DC (brown, pin 1) 0 V (blue, pin 2)
NMEA + (white, pin 6) NMEA - (green, pin 5) SeaTalk data (yellow, pin 4)

D305-3

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Mounting the socket

Install the tiller pilot socket as follows:
Floating nut Plug Socket Gasket Cable Installed socket Retaining ring

D3296-2

1. Attach the template (provided at the back of this handbook) to the selected bulkhead. 2. Carefully drill a 21 mm (53/64 in) clearance hole for the cable boss. 3. Drill 4 pilot holes (2.5 mm or 3/32 in) for the self-tapping screws. 4. Remove the template. 5. Pass the power cable and any other cables (SeaTalk and NMEA) through the bulkhead and the gasket. 6. Use a small flat-bladed screwdriver to connect the cable(s) to the socket refer to the illustrations on the following pages to identify the individual connections on the SeaTalk socket. Ensure that the socket is oriented correctly and note the connection numbers in relation to the keyway.
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ST1000+ and ST2000+ Bulkhead Connector

Keyway

Keyway TOP 3 Not used 2 Blue (0 volts) 1 Brown (12 volts)

Keyway TOP

4 Yellow (SeaTalk) 5 Green (NMEA--) 6 White (NMEA+)

D7930 -3

D3297-2
7. Assemble the rubber cap to one of the 4 self-tapping screws. 8. Secure the socket to the bulkhead using the 4 self-tapping screws. 9. Secure the cable(s) at regular intervals using suitable clips. 10. Assemble the plug to the socket by screwing the floating nut onto the threaded part of the socket by hand.

Calibrating the compass

Automatic compass deviation correction
By completing the following compass correction procedure, the tiller pilot can correct its own internal fluxgate compass for most deviating magnetic fields. You should complete the Compass Deviation Correction at the beginning of your sea trial. To complete the compass correction:
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ST1000 Plus & ST2000 Plus Tiller Pilots 1. Extend or retract the pushrod so you can place the pushrod end onto the tiller pin. 2. Press and hold standby for 1 second a series of dashes will cycle around the display.

D3272-2

3. Keeping boat speed below 2 knots, use the -10 and +10 keys to turn the boat in slow circles. You should take at least 3 minutes to complete each 360.
boat's speed below 2 knots each complete circle should take 3 minutes

11/circles

D3273-2
4. Keep turning your boat until the display changes to show the amount of deviation the autopilot has detected (this should take between 11/2 t o2 complete circles). The deviation alternates with the autopilots current heading every second.

Deviation

D3274-2
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Heading alignment

1. Use the -1 and +1 keys to increase or decrease the displayed heading until it agrees with the heading on the boats steering compass, or a known transit bearing. 2. Exit compass linearization and heading alignment and store the compass correction/alignment values as follows: press and hold standby for 1 second until the pilot beeps or, to exit without saving any new settings, press standby momentarily
Note: For installations where an ST50 or ST30 Steering Compass instrument is connected to the SeaTalk bus, and the Steering Compass has a fluxgate transducer connected, it is only necessary to carry out the auto deviation correction on the Steering Compass Instrument (refer to Steering Compass handbook instructions).
Further adjustments to heading alignment
If the heading alignment requires further adjustment, enter Compass Deviation Correction again by pressing standby for 1 second. 1. Press auto to skip Deviation Correction and proceed to Heading Alignment. 2. Adjust the heading as described above.

Autopilot operation

Having calibrated the compass, the following procedure is recommended to familiarize yourself with autopilot operation: 1. Steer onto a compass heading and hold the course steady. 2. Place the pushrod end over the tiller pin. 3. Press auto to lock onto the current heading. The tiller pilot should achieve a constant heading in calm sea conditions. 4. Alter course to port or starboard in multiples of 1 and 10.

Adjusting calibration values
The flow chart on the next page shows how to: enter the calibration menu scroll through the calibration menu adjust the calibration values quit calibration
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Calibration menu

1 = 5 = 6 = 9 = 10 = Rudder gain Average cruise speed Off course alarm angle Local magnetic variation Northerly/Southerly turning error correction 11 = Current boat latitude 13 = Rudder damping

SECONDS

REPEAT THE ABOVE KEYPRESS WITHIN 10 SECONDS TO ENTER CALIBRATION
SECONDS ADJUSTING CALIBRATION FEATURES OR
QUITTING CALIBRATION AND SAVING ANY CHANGES
QUITTING CALIBRATION WITHOUT SAVING CHANGES
Does not appear if Level 10 is set to 0.

D3344-2

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Calibration features

Calibration feature

D167-07a

The number on the left identifies the calibration feature and the number on the right the currently selected value. You can enter the calibration menu to view the existing values without altering them. After viewing the value, a momentary press of standby returns the pilot to its normal operating mode without affecting the previous settings. If the display shows CAL OFF when you try to enter calibration, refer to page 64.

D214-1

Default calibration values
The following table shows the default calibration values. These will provide safe performance for initial sea trial.
No. 13 Feature Rudder gain Average cruise speed Off course alarm angle Local magnetic variation North/South turning error correction Boats current latitude Rudder damping Default setting 20 Off ( ) Off (0) Adjusted values
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Note: Calibration Levels 2,3,4,7,8 and 12 are not available. If Calibration Level 10 is set to 0, level 11 will also be omitted.
6.2 Calibrating the tiller pilot
Calibration Level 1: Rudder gain
Use Calibration Level 1 to adjust the rudder gain. This must be set when your boat is under way, as described on page 53.
Calibration Level 5: cruise speed
Use Calibration Level 5 to set the boats normal cruising speed for operation in Track mode. When interfacing with a navigation system, the tiller pilot uses the boats average cruising speed to perform track calculations.
Note: If a SeaTalk speed instrument is connected, boat speed data will be transmitted di-

rectly to the autopilot.

Calibration Level 6: off course alarm angle
Use Calibration Level 6 to set the off course alarm angle. This alarm warns you if the autopilot is unable to maintain its set course. The off course alarm operates if the autopilot strays off course, by more than the set value, for more than 20 seconds. You can set the limit in 1 increments between 15 and 40.