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Simrad TP10
I have had a TP10 on my Catalina 27 for several years. It works fine under sail with no interface, but you may need to make periodic adjustments to your course. I use it mostly when motoring, but since I am almost always shorthanded, it gets used a lot under sail as well. I have done a couple of overnight races doublehanded, where you are allowed an autopilot. It was used almost all the time, including a 9 hour stretch under chute, until the wind and following seas got to a point where no autopilot would have steered. It's not perfect, but it is well worth the money, and I would buy the same thing again.
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