We have an Autohelm ST-2000 and had a chance several years ago to give it a work out in heavy air on a two man delivery from Chicago to Muskegon. We were motor sailing with full main and #3 in 18-25 apparent and 3-4 ft waves, then later with reefed main and #3. The Autohelm drove all the way (19 hrs) and did a great job even in the waves at night! Bob Cox, Ricochet