Ditto on the ST2000. We use our autopilot a LOT! I found in a following sea condition, even in the tight course mode, the ST1000 couldn't keep up and soon the autopilot was slamming full port to starboard and the boat quickly was out of control. The ST2000 works GREAT because it's about twice as fast reacting, so when it senses a change, it can respond and keep the boat under control Also, being a recirculating ball drive, I believe it uses less power. Save your money up and get the ST2000. Couple that up with a wireless remote that lets you steer the boat from anywhere and it's an unbelievable set-up!
Don