I have the ST2000+ who I refer to as "Raytard". While he is indispensable for long motoring deliveries and putting up sails, I have only been half satisfied with his performance steering to the wind (networked to my ST60+). He is pretty good upwind but downwind I find he just goes stupid every once and a while and allows the boat to just keep turning even when there is no windshift. He has gone a full 90 degrees off the set wind angle.
I do think I need to play with the calibration settings more and I haven't tested him on a reach but I don't know if he can handle it.
I think he might be drinking when I am not looking.
