After 2 years of perfect operation, my RayMarine Autopilot 5000 began acting up this weekend. If I change course manually the helm turns and then 'seeks' for 5 or 6 times before settling in on the new course. Since it has worked perfectly, I know it isn't the rudder gain or the response. I also tried it dockside, with the same resulting 'seeking'. Is the answer to 'swing the compass' or is it a more difficult problem.