Alright....after a long time and a lot of work, I finally got the autohelm working. Here is a brief review of my horror story. Bought a new Raymarine autohelm. Took it to a local marina to install it. They said that they would be reasonable but I ended up paying $1300 for the install (only paid $1200 for the unit). The autohelm still didn't work. Finally got ahold or Raymarine. Their suggestion didn't work. Got ahold of them again. They told me that the unit had a problem with it from the factory and I needed to send it in. Spent $20 to ship and insure autohelm and then got a call from the factor. The tech was hard to understand (he had a far eastern accent). The tech said that there was nothing wrong with my unit. I told him what the other raymarine tech said and he laughed and said that I got bad advice. The tech told me to reverse the motor wires and it should work (and laughed again). Got the computer back and re-installed it. Reversed the motor wires and it worked. Anyway, I made it steer the boat for 7 hours this past weekend and it worked fine. I am still agrivated over the whole thing and I wouldn't mind making the two Raymarine techs walk the plank! If anyone is going to buy a Raymarine ST1 for their boat I can go and get some pictures of it. I won't make it to my boat until the middle of next week (at the earliest) but if anyone is interested I will try to get the pictures.