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Gains.... Need some help lease
I concur, that it's likely too low of P value for your boat. Try gradually increasing it and if it overshoots you may try to increase D and DD to help mitigate that.
Okay I will make the adjustments as suggested. Thanks so much for all your help.
Unfortunately, I will not be able to update until spring now, I just pulled the boat and winterized the engines.
But my setup is still running and accessible via VNC.
Ill be working on push buttons and a Autopilot panel etc over the winter.

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