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I have the autohelm 4000+ wheel pilot on my 35'' sailboat. It is the 3rd Raytheon unit that I have owned. I think, that on a bang for the buck measure, it is an excellent purchase. It is simple enough to install and calibrate yourself. That being said, you do need to spend some time "tweaking" the myriad of settings to get the unit to respond correctly under the conditions. I have used mine in everything from flat to moderate seas. Anything heavy still requires hand steering in my experience. You can even interface the unit with a GPS and have it self correct. If you were doing serious offshore sailing and cruising, you might opt for a below decks pilot and/or a wind vane steering system as either would be better suited to the heavy conditions you may encounter. Good luck.
 
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