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20 ST4000+ Wheel & Tiller Autopilots: Owner’s Handbook
3 Advanced Operation
3.1 Using Track mode
Note: You can only use Track mode if you have connected the
ST4000+ to a suitable navigation system providing SeaTalk or
NMEA navigation information.
The ST4000+ can receive track and cross track error information
from either:
• a SeaTalk navigation instrument or chartplotter (see page 52 for
information on connecting to SeaTalk)
or
• a non-SeaTalk navigation system transmitting data in the
NMEA 0183 format – you can connect this directly to the
ST4000+ NMEA input (see page 53 for information on
connecting to NMEA equipment)
In Track mode, the ST4000+ maintains a track between two
waypoints created on the navigation system. The autopilot computes
any course changes to keep your boat on track, automatically
compensating for tidal streams and leeway.
Selecting Track mode
To select Track mode, press the track key with the autopilot in Auto
mode.
When you select Track mode, the autopilot can acquire a track
through either:
• automatic acquisition (see below), when both cross track error
(XTE) and bearing to waypoint (BTW) data are available
or
• manual acquisition (see page 21), when only cross track error
information is available
Automatic track acquisition
If cross track error and bearing to waypoint information are both
available (via SeaTalk or NMEA), the autopilot can acquire a track
automatically:
1. Bring the boat within 0.1 nm of track.
2. Press
auto. The autopilot will display the current locked heading.
3. Press
track to enter Track mode.