Here are some pics of Spin’s 90 minute sail on the Waitemata Harbour in ~15 kts westerly wind today. Pictures courtesy of Cam Malcolm of SailNZ.
Balance was good. Most of the time I could keep my hand off the helm joystick. Generated about 5 watts per knot with a static motor controller setting, probably could double that by tweaking the prop pitch and motor commands. Max heel recorded was 55 degrees which corresponds to about a 5 liters/sec pouring into the cockpit. A spray skirt will remedy that. No issues with any of the servo winches. A milliliter of seawater seeped into the fwd controller box (boom vang & bilge pump) and shorted out the ADC and microprocessor through a bad seal on an IP67 pushbutton switch. Fortunately it didn’t fail was motoring back to the dock. Next project: wind instruments!