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My auto pilot, an Autohelm ST4000+ ,has been a disappointment. I have changed the steering cable from the helm to the motor and also put on a special bar that disconnects the motor from the steerage when sailing and the result is that the auto pilot still only works well in beautiful calm seas. I think a sturdier rudder bracket with less play in the rudder would eliminate the wallowing of Impulse as she moves through the waves.
I still use it when I go below deck, but I don’t waste anytime before returning to the helm or peeking out of the companion way.
I still have the original porta potti. Commodore Rick & Sue Thompson have a composting toilet. He has had it for a few years and likes it. Rick has a MacGregor M.