Towards the end of the season my ST4000 Auothelm became unusable. When I turned it on and engaged it the boat would suddenly start stearing all over the place. The rudder bar display on the control unit was 20 degrees off from the position of the helm so I thought it had to be the Rudder position sensor. However, when I took out the boat again it registered ok until I started sailing. The boat would do circles. I am thinking it could be the drive belt slipping? Any thoughts would be really appreciated on this.