Chapter 7: Customizing the ST4000+..101
7.1 User setup... 102 Compass deviation correction (SWING COMPASS).. 102 Deviation display (DEVIATION).. 102 Heading alignment (ALIGN HDG).. 102 Heading mode (HDG MAG/TRU).. 102 Bar selection (RUDD BAR/STEER BAR/NO BAR).. 104 Data pages 1-7 (DATA PAGE)... 104
7.2 Dealer setup... 106 Calibration lock (CAL LOCK).. 108 Pilot type (4000 WHL/TILL).. 108 Rudder gain (RUDD GAIN).. 108 Response level (RESPONSE)... 108 Turn limit (TURN RATE)... 108 Rudder alignment (ALIGN RUD).. 108 Rudder limit (RUD LIMIT).. 109 Off course alarm (OFF COURSE).. 109 AutoTack angle (AUTOTACK).. 109 AutoTrim (AUTOTRIM)... 110 Drive type (DRIVE TYP)... 110 Magnetic variation (VARIATION).. 110 AutoAdapt (AUTOADAPT)..111 Latitude (LATITUDE)...111 Rudder damping (RUDD DAMP).. 112 Cruise speed (CRUISE SP).. 112
Specifications... 113 Glossary... 115 Index... 117

About this handbook

Welcome to the handbook for the ST4000+ wheel and tiller autopilot systems. This handbook contains two main parts:
Part 1: Using the ST4000+ Autopilot 1
Chapter 1: Introduction Introduces the autopilot, its features and its use. Chapter 2: Basic Operation Covers basic autopilot operation: using Auto mode, interpreting alarms, adjusting autopilot performance and changing the control unit lighting. Chapter 3: Advanced Operation Explains how to use Track and Wind Vane modes, and display data pages. Chapter 4: Maintenance & Fault Finding Provides general maintenance procedures and information to help you resolve problems you may encounter with the autopilot page 1

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Part 2: Installing the ST4000+ Autopilot 5 6
Chapter 5: Installing the ST4000+ Explains how to install your autopilot and its components. Chapter 6: Setting-up the ST4000+ Covers functional testing and dockside procedures after installation, and initial sea trials. Chapter 7: Customizing the ST4000+ Provides details on adjusting the autopilot settings to suit your boat. page 43

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At the end of this handbook we have included product specifications, a glossary and index, and templates for installing different parts of the system. Note: 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.

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.

Calibration

We supply this product calibrated to default settings that should provide stable performance for most boats. To ensure optimum performance on your boat, you must complete Chapter 6: Setting-up the ST4000+ before use.

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 members of crew 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.

AutoTack - Starboard Wind

AutoTack angle

D5399-1
Making major course changes
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 eliminate this problem, use the following procedure to make major course changes:
1. Note the required new heading. 2. Select standby for manual steering, so you can bring the boat to the new heading MANUALLY. 3. Select auto: allow the boat to settle onto course, then bring the boat to the final course in 1 steps using the -1 or +1 keys

Gusting conditions

In gusting conditions, the course may tend to wander slightly, particularly if the sails are badly balanced. If you take the following precautions, the autopilot will be able to maintain competent control even in gale force conditions: You can significantly improve course keeping by improving the sail balance: 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 In very strong winds and large seas, you should avoid sailing with the wind dead astern: ideally, bring the wind at least 30 away from a dead run in severe conditions, you may also need to remove the mainsail and sail under headsail only 2 Basic Operation
2.3 Adjusting autopilot performance
During normal autopilot operation in any mode you can make temporary adjustments to: response level rudder gain
Note: You will lose these temporary changes to response level and rudder gain whenever the system is powered off then on again. You can make permanent adjustments in Dealer setup (see page 108).
Changing the response level (AutoSeastate)
The response level controls the relationship between the autopilots course keeping accuracy and the amount of helm/drive activity. Response Level 1: AutoSeastate on (Automatic deadband) This setting causes the autopilot to gradually ignore repetitive boat movements and only react to true variations in course. This provides the best compromise between power consumption and course keeping accuracy, and is the default calibration setting. Response Level 2: AutoSeastate off (Minimum deadband) This setting provides the tightest course keeping possible. However, tighter course keeping results in increased power consumption and drive unit activity.

To make a temporary change to the response setting: 1. Display the RESPONSE screen by pressing the -1 and +1 keys together momentarily.

D3310-4

Note: If you have set up the RESPONSE screen as a default data page (see page 104) you can also access it by pressing disp and then scrolling through the data pages. 2. Press -1 or +1 to change the response level. 3. Press disp or wait for 5 seconds to return to the previous display.

Changing the rudder gain

Decrease rudder gain

Increase rudder gain

D5400-1
To make a temporary change to the rudder gain: 1. Press the -1 and +1 keys together for 1 second to display the rudder gain (RUDD GAIN) screen Note: If you have set up the RUDD GAIN screen as a default data page (see page 104) you can also access it by pressing disp and then scrolling through the data pages. 2. Press -1 or +1 to change the rudder gain. 3. Press disp or wait for 5 seconds to return to the previous display. Note: See page 96 for instructions on how to check that the rudder gain is set correctly.

2.4 Autopilot alarms

Responding to alarms
The ST4000+ activates the alarms listed on the following pages: Unless otherwise stated, you should deal with alarms by pressing standby to clear the alarm and return to hand steering. In some situations, the autopilot will raise more than one alarm. When you have dealt with the first alarm, the autopilot will display the next alarm.
SeaTalk Failure alarm (STLK FAIL)
The ST4000+ displays the SeaTalk failure message if there is a wiring fault in the SeaTalk connection.
Off Course alarm (OFFCOURSE)
= deviation to port = deviation to starboard

D3315-2

The ST4000+ activates this alarm when the boat has been off course from the locked heading by more than the specified angle* for longer than 20seconds. It shows whether the deviation is to port or starboard. Note: * You can adjust this specified alarm angle in Dealer setup (see page 109). 1. To cancel the off course alarm, press standby to return to hand steering. 2. Check whether your boat is carrying too much sail, or whether the sails are badly balanced. You can usually significantly improve course keeping by improving the sail balance. Note: The ST4000+ also clears the alarm if the heading recovers, if you change the course, or if you change the operating mode.

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4 Maintenance & Fault Finding

4.1 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, refer to the product support information on page 40.
SYMPTOM The control unit display is blank The displayed compass heading does not agree with the boats compass Boat turns slowly and takes a long time to come onto course Boat overshoots when turning onto a new course The autopilot appears to be unstable in Track mode, or track-holding is slow SOLUTION No power check the fuse/circuit breaker. You have not corrected the compass for deviation carry out the deviation and alignment procedures (see page 92 and page 95). Rudder gain too low (see page 96). Rudder gain too high (see page 96). If tide speed exceeds 35% of boat speed, and boat speed is not available via SeaTalk, change the Cruise Speed setting in Dealer Setup to the boats cruising speed (see page 112). Northerly/Southerly heading correction (AutoAdapt) is not set up (see page 111).
The autopilot appears to be unstable on Northerly headings in the Northern hemisphere and Southerly headings in the Southern hemisphere Display shows CAL LOCK when entering calibration
Calibration lock is on turn off the calibration protection feature is in Dealer setup (see page 108).
SYMPTOM The autopilot will not talk to other SeaTalk instruments Position information not received The autopilot will not auto advance to the next waypoint The control unit display shows a series of rotating dashes The control unit display shows a series of stationary dashes The control unit display shows NO DATA SOLUTION
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. Compass deviation correction is running (see page 92). The control unit is not receiving data check the cabling. The signals received by the navigator are too weak for reliable navigation refer to the navigator handbook for further action. OR Wind trim data is not available check the connection to the wind instrument. Tighten the clutch see page 37.
Wheel drive: drive belt slips in Auto mode (motor operates but drive does not turn wheel) Wheel drive: drive belt drags in Standby mode
Loosen the clutch see page 37.

4.2 General maintenance

The control unit, fluxgate compass, tiller drive and rudder position sensor do not contain any user serviceable parts. These products should be serviced only by authorized Raymarine service technicians.

Identifying the correct tiller bracket
1. Clamp the tiller on the boats center line. 2. Measure dimension D (if the pushrod is above the tiller) or dimension E (if the pushrod is below the tiller). 3. Select the appropriate bracket from the following table:
Dimension D (pushrod below tiller) 25 mm (1 in) 51 mm (2 in 76 mm (3 in) 102 mm (4 in) 127 mm (5 in) Dimension E (pushrod above tiller) 51 mm (2 in) 76 mm (3 in) 102 mm (4 in) 127 mm (5 in) 152 mm (6 in) Bracket part no. D009 D010 D011 D159 D160
Mounting the tiller bracket
1. Position the tiller bracket on the center line of the tiller (above or below) and establish the critical dimensions A and B Note: To measure dimension B on a boat with a sloping rudderstock, refer to the diagram on page 65. 2. Mark the centers of the two bracket mounting holes. 3. Drill two 6 mm (1/4 in) diameter holes through the center line of the tiller at the positions you have marked. 4. Attach the tiller bracket using two 6 mm (1/4 in) diameter bolts, nuts and washers. 5. Bond the fixing bolts in place with two part epoxy adhesive 6. When the epoxy is completely hardened, fully tighten the nuts. 7. Attach the tiller pin to the bracket.

D286-2

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'B' 90 degrees

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Cantilever mounting

If you need to attach the tiller drive to a vertical face (such as the cockpit sidewall), use a Raymarine cantilever socket assembly (part number D031): the maximum possible extension offset is 254 mm (10 in) you cut the cantilever to the exact length during mounting
Cutting the cantilever rod to length
1. Clamp the tiller on the boats center line. 2. Measure dimension F (actual). 3. Refer to the table to establish a cutting length for the cantilever rod double check measurements before cutting. 4. Measure the rod from threaded end, then cut the cantilever rod to length L using a hacksaw. Remove any sharp edges with a file.
Dimension F 686 mm (27 in) 711 mm (28 in) 737 mm (29 in) 762 mm (30 in) 787 mm (31 in) 813 mm (32 in) 838 mm (33 in) Cut length L 51 mm (2 in) 75 mm (3 in) 102 mm (4 in) 127 mm (5 in) 152 mm (6 in) 178 mm (7 in) 203 mm (8 in)

D288-2

Mounting the cantilever assembly
To mount the cantilever assembly: 1. Temporarily assemble the cantilever by screwing the rod into the mounting ring. 2. Ensure the drive unit is horizontal and then mark the location of the mounting ring and its mounting holes. 3. Drill three 6 mm (1/4 in) diameter holes at the positions you have marked. 4. Bed the mounting ring on a thin coat of silicon sealant. 5. Use three 6 mm (1/4 in) diameter bolts, nuts and washers to attach the mounting ring to the backing plate (with the backing plate on the other side of the mounting surface, as shown above). 6. Screw the rod firmly into place. 7. Roughen the end of the cantilever rod and the inside of the cap to provide a key. Then apply two part epoxy adhesive to the rod end and the cap. 8. Place the cap over the rod end, making sure the hole for the drive unit mounting pin faces upwards. Allow the epoxy adhesive to harden fully before applying a load. Note: When the autopilot is not in use, you can unscrew the complete rod assembly to leave the cockpit unobstructed.

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2. Identify the appropriate spoke clamp holes for your wheel. With the arrow at the top, refer to the following diagrams: the holes are numbered inside the cover (e.g. if you have a 5 spoke wheel, you need to drill the 4 locations marked with 5) mark the appropriate spoke clamp holes and check them by holding the cover against your wheel

5 spokes

Top 2 spoke clamp holes are pre-drilled

7 spokes

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3 or 6 spokes

4 or 8 spokes

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Note: The wheel drive is designed to work with 3 spoke clamps on 4 or 8 spoke wheels. For cosmetic reasons, however, you may want to fit an extra spoke clamp to the fourth spoke. Raymarine dealers can supply an extra spoke clamp (part number A18089). 3. Drill the appropriate spoke clamp holes using the larger of the supplied drill bits (6.0 mm or 1/4 in): drill from the inside, placing a piece of scrap wood under the cover to produce a clean exit hole you will need to drill 4 new holes so the cover has 6 holes in total (2 for each spoke clamp) Note: The spoke clamps will cover these exit holes, so they will not be visible when the wheel drive is installed.

Piece of scrap wood

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4. Align the cover with the wheel drive: the two pre-drilled holes (marked with an arrow) must line up with their matching pair of threaded inserts on the drive ring (also marked with an arrow) make sure that the other spoke clamp holes align with their threaded inserts Note: The cover will only fit back onto the wheel drive when you have aligned the two parts correctly.
Pre-drilled holes (marked with arrow) Pair of threaded inserts (marked with arrow)
Drive ring Front cover Drive unit

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5. Fit the cover back onto the wheel drive: press the cover in the three places shown on the diagram below to push each of the posts back into its locating socket Note: This step is easier with the clutch engaged.

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Securing the wheel drive to the wheel
1. Remove the wheel from the pedestal and place it on top of the drive unit, with the front of the wheel and drive both facing up. 2. Using the wheel drive template at the end of this book, select the correct set of spoke clamp inserts for your wheel: measure the spoke diameter at a distance of about 135 mm (5.3 in) from the center of the wheel select the appropriate set of inserts: the wheel drive is supplied with 2 sets of 3 inserts suitable for 12 mm (1/2 in) and 16 mm (5/8 in) diameter spokes each insert is marked with its size 3. Fit the first spoke clamp: lubricate the spoke with washing-up liquid so you can slide the spoke clamp along the spoke to adjust its position place the insert on the spoke about 135 mm (5.3 in) from the wheel center this distance is not critical as the wheel drive will self-center as you fit all 3 spoke clamps place the spoke clamp onto the insert, making sure that you have correctly located the clamp insert in the clamp locate 2 of the clamp screws (M5 x 16 mm allen-head screws) lightly tighten the screws using the 3 mm allen key (supplied)

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4. Repeat step 3 to fit the other 2 spoke clamps. As you fit each one, adjust the position of the wheel relative to the wheel drive so the holes in the clamp line up with the holes in the cover. As you do this, the wheel drive will self-center on the wheel. 5. After fitting all 3 spoke clamps, fully tighten the screws.
Attaching the pedestal bracket
5 Installing the ST4000+ Note: If your wheel is bulkhead or box pedestal mounted, you will need to obtain a bulkhead fitting kit (part number E15017) from your Raymarine dealer. Fitting instructions are supplied with the kit.

Motor tube location

Depending on the design of your pedestal and any surrounding obstructions, you can mount the wheel drive in one of two ways: Slot 1 installation: the standard position uses slot 1 on the back of the wheel drive (the slot closest to the motor tube) so the motor tube is at the bottom to the right of the pedestal Slot 2 installation: the alternative installation uses slot 2 to position the motor tube at the top to the left of the pedestal
Select the appropriate slot so the motor tube is clear of obstructions.
If you use slot 2 and you have a pedestal-mounted compass, the drive motor may affect compass readings.

Slot 1 installation:

motor tube at bottom right

Slot 2 installation:

motor tube at top left

Slot 1

Slot 2

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Pedestal bracket length and position
Note: If you are replacing an existing 4000 wheel drive, you need to: remove the old pedestal bracket, cut the new bracket pin to the correct length (see steps 2 and 3 below), then secure it in the standard orientation using the existing pedestal holes. 1. Fit the wheel onto the pedestal, tighten the wheel nut to hold the wheel in place, and engage the wheel drives clutch: if possible, lock the wheel in position with the appropriate slot centered at the bottom of the wheel otherwise, you will find it useful to have an assistant to hold the wheel in position so you can locate the bracket correctly 2. Measure dimension A the distance between the front of the pedestal and the rear edge of the drives front cover (see diagram): you may find it easiest to hold the bracket below the wheel drive and mark dimension A directly on the pin

D5336-1

3. The ST4000+ should immediately respond by switching on its display lighting: if the display lighting does not switch on, there is a fault in the SeaTalk cabling between the ST4000+ and the other instruments/control units
6.2 Check rudder sensor operation (if fitted)
Note: This procedure is only required if you have fitted a rudder position sensor to a wheel pilot system. If you have fitted a rudder position sensor to a wheel pilot, before commencing the initial sea trial you must make sure that it senses rudder movement in the correct way and is aligned with the rudder: 1. Press the -10 or +10 key to move the helm to check that the rudder bar display moves in the same direction as the sensor arm: if the display moves in the opposite direction, swap the red and green cables at the control unit (see page 84) 2. When you have done this, use the -1, +1, -10 and +10 keys to move the helm to its center position. 3. Check the rudder bar display the rudder angle should be within 7 of center. If necessary, bring the rudder angle to within 7 of the center by loosening the mounting bolts on the rudder position sensor rotating the base of the sensor until the reported rudder angle is as close to zero as possible re-tightening the bolts 4. When the offset is less than 7, use the rudder alignment (ALIGN RUD) setting in Dealer setup (see page 108) to accurately align the display and helm. Note: You cannot use the rudder alignment (ALIGN RUD) setting to correct an offset of more than 7. 5. Calibrate the rudder limits using the rudder limit (RUD LIMIT) setting in Dealer setup: manually set the rudder to each end stop (port and starboard): for each direction, use the rudder bar on the display to determine the end-stop angle access the rudder limit screen (RUD LIMIT) set the autopilot rudder limit so that it is 5 less than the smallest (port or starboard) mechanical end stop angle

6.3 Initial sea trial

Overview
When you have checked that the system is functioning correctly, you must complete the setup by taking the boat on a short sea trial to: correct the compass deviation adjust the heading alignment check autopilot operation adjust the rudder gain 6 Setting-up the ST4000+
Note: The ST4000+ has built-in calibration so you can fine tune it to suit your boat, its steering system and its dynamic steering characteristics. So you can perform the initial sea trial, we calibrate the unit at the factory to provide safe and stable autopilot control for the majority of boats. You should perform the initial sea trial: when you have successfully completed all of the installation, functional tests and rudder sensor checks before making any other changes to default calibration settings: check and, if necessary, reset the values to the recommended levels described in Chapter 7: Customizing the ST4000+ in conditions of light wind and calm water, so you can assess autopilot performance without the influence of strong winds or large waves in waters that are clear of any obstructions

Step 3 - Adjust the rudder damping
If you have connected a rudder position sensor to a wheel drive autopilot system, adjust the rudder damping. Check the rudder damping when your boat is moored dockside: press auto and then +10 if the helm overshoots and has to drive back, or starts to hunt back and forth, you need to increase the damping level adjust the damping one level at a time, and always use the lowest acceptable value. 6 Setting-up the ST4000+
Step 4 - Adjust the rudder gain
The next step is to adjust the rudder gain, as described on page 96.
Step 5 - Adjust the AutoTrim setting
When there is a change in boat trim and/or sea conditions the boat will change course. The autopilot will immediately apply rudder to correct for this. However, it may not apply sufficient rudder to overcome standing helm and bring the boat fully onto course. Over a period of minutes the AutoTrim function will apply more rudder until it achieves the desired course. Increasing the AutoTrim level reduces the time the autopilot takes to get back to the correct course. But if the AutoTrim level is too high, the boat will snake around the desired course. You should gain experience with your autopilot before attempting to adjust the AutoTrim setting. On sail boats, you can only evaluate the effect of AutoTrim while under sail. If you need to change the setting, increase the AutoTrim one level at a time and use the lowest acceptable value: decrease the AutoTrim level if the autopilot gives unstable course keeping and the boat snakes around the desired course increase the AutoTrim level if the autopilot hangs off course for excessive periods of time
Step 6 - Further adjustments
You may need to repeat these steps over a range of sea conditions and different headings to achieve a good overall performance.
Chapter 7: Customizing the ST4000+
The ST4000+ provides calibration options that you can use to adjust the settings for the control unit, the compass and the autopilot system. We calibrate the ST4000+ during manufacture to provide stable performance for most boats so you can perform the initial sea trial. After you have completed the initial installation and sea trial, you should not normally need to alter the Dealer setup values. However, if sailing conditions change you may need to adjust the settings. Note: Complete the procedures described in Chapter 6: Setting-up the ST4000+ before adjusting any calibration settings. The sections in this chapter explain the two setup levels:

User setup This controls compass setup and ST4000+ display features (bar graph type and data page information). Dealer setup This controls the main autopilot settings and also the calibration lock.

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7 Customizing the ST4000+
Accessing the setup modes
User setup Software version Dealer setup

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Note: See page 40 for more information about the software version screen.

7.1 User setup

User setup allows you to calibrate and align the autopilot compass, select the type of bar graph shown on the ST4000+ display, and control the information shown on the data pages. The flowchart on the following page explains how to access User setup, scroll through the setup displays, adjust the values and quit: you can only access User setup from Standby mode if you see the CAL LOCK screen instead of the initial page, you need to turn off the calibration lock in Dealer setup (see page 108) the ST4000+ saves any new settings when you quit User setup
The rest of this section explains the settings on each screen.
Compass deviation correction (SWING COMPASS)
This screen allows you to correct the compass for deviating magnetic fields. You must perform this procedure as the first item in your initial sea trial (see page 91 for full details).
Deviation display (DEVIATION)
This screen shows the current deviation value, calculated from the compass deviation correction procedure (see page 91 for full details). You cannot edit this value.
Heading alignment (ALIGN HDG)
This screen allows you to align the autopilot compass with the boats compass: steer your boat onto a known heading adjust the displayed heading using the -1, +1, -10 and +10 keys check the autopilot display on various headings and adjust as necessary (see page 95)
Heading mode (HDG MAG/TRU)
This screen allows you to select either magnetic or true heading mode. When the display shows heading data in normal operation, it indicates whether you have selected true or magnetic mode.
Adjusting User setup values OR

Quitting User setup

D3341-2
Bar selection (RUDD BAR/STEER BAR/NO BAR)
Use this screen to select the type of bar graph shown on the display:
STEER BAR: This is the default setting. It uses the bar graph to indicate different information in different operating modes:
Mode Standby Auto Track Wind Vane Bar Rudder bar (for systems with a rudder position sensor) Heading error bar Cross track error (XTE) bar Wind angle error bar
RUDD BAR: This shows the rudder position. If your system includes a rudder angle sensor, the bar graph will show the true rudder angle in Standby and Auto modes.
Data pages 1-7 (DATA PAGE)
The next seven User setup screens allow you to modify the settings for the data pages. These define the SeaTalk/NMEA data pages that will be available during normal operation (see page 31). Each setup page initially shows the title DATA PAGE. After 1 second, the text changes to the title of the data currently set for that page.The default settings are:

Rudder limit (RUD LIMIT)

Use the rudder limit function to set the limits of autopilot rudder control just inside the mechanical end stops. This will avoid putting the steering system under unnecessary load. The adjustment range is from 15 to 40 of rudder movement. If your boat is fitted with a rudder position sensor, set the autopilot rudder limit as follows: 1. Manually set the rudder to each end stop (port and starboard): for each direction, use the rudder bar on the display to determine the end-stop angle 2. Access the rudder limit screen (RUD LIMIT). 3. Set the autopilot rudder limit so that it is 5 less than the smallest (port or starboard) mechanical end stop angle.
Off course alarm (OFF COURSE)
This feature controls the alarm that warns you if the autopilot is unable to maintain its set course. The alarm operates if the pilot strays off course by more than the alarm angle limit for more the 20 seconds. The value must be within 15 to 40, and you can adjust it in 1 steps. 7 Customizing the ST4000+

Locked heading

Boat heading

15 minimum

D3264-2
AutoTack angle (AUTOTACK)
The AutoTack angle is the angle through which the boat turns when you select automatic tack (see page 10). The value must be within the range 40 to 125, and you can adjust it in 1 steps.

AutoTrim (AUTOTRIM)

The AutoTrim setting determines the rate at which the autopilot applies standing helm to correct for trim changes caused by varying wind loads on the sails or superstructure. The possible settings are:
Setting Off Effect No trim correction Slow trim correction Medium trim correction Rapid trim correction Very rapid correction
The default setting (Level 3) should provide optimum performance with the ST4000+ autopilot. However, depending on the boats dynamic stability, an incorrect rate of trim application may result in poor course keeping due to autopilot instability. After gaining experience with the ST4000+, you may wish to change the setting. You must evaluate the effect of the setting while under sail:
decrease the AutoTrim level if the autopilot gives unstable course keeping and the boat snakes around the desired course increase the AutoTrim level if the autopilot hangs off course for excessive periods of time

Drive type (DRIVE TYP)

The drive type setting controls how the autopilot drives the steering system. Retain the default setting (DRIVE TYP 1) for mechanically driven boats.
Magnetic variation (VARIATION)
If required, set this to the level of magnetic variation present at your boats current position indicated as east (E) or west (W). The ST4000+ sends this variation setting to other instruments on the SeaTalk system, and it can be updated by other SeaTalk instruments.