Just had the Autohelm ST4000 drive unit serviced by Raymarine factory service. 2 weeks, $180, they were good to work with... I think they replaced all the guts... Doesnt look any newer, but works great. Hope I don't regret not getting the new MKII drive for $400 instead. I spent an afternoon on the water, going in circles, and adjusting parameters on the unit, to get it to hold a course well. Success, I think. I was surprized that the setting for lattitude and magnetic varience seemed to make a lot of difference... Well, my experience, for those who a browsing the forum this evening.