The real test..

Now that I confirmed that the autopilot worked under motor, and the rudder angle sensor was calibrated, it was time for the real test. Or at least that was my excuse to go sailing. (Like I really need an excuse. ) 

It resulted in an absolutely perfect sail ripping along at close to hull speed the whole time, beating south past the South River before having a lively surf back arriving just at sunset wi5h just enough light to put the old girl to bed before meandering up the steps from the dock to my house.