Raymarine ST7002 - Manual (Page 25)

Chapter 2: Advanced Operation 15
Tidal stream compensation
Under most conditions, the SmartPilot will hold the selected track to within ±0.05
nm (300 ft) or better. It takes account of the boat’s speed when computing course
changes to ensure optimum performance.
How do I dodge an obstacle in Track mode?
In Track mode you still have full control from the keypad.You can make a dodge
maneuver by using the course change buttons (-1, +1, -10 or +10) to select the
desired course change.
On making a dodge maneuver, the autopilot will revert to AUTO mode. Once you
are safely past the obstacle, reinitiate Track mode to continue on your planned
route.
Waypoint 1
Waypoint 2
Cross track error (XTE)
more than 0.3 nm
D4231-3P
Planned route
Actual route
D3261-3
Waypoint 2
Waypoint 1
Boat's speed over ground
Tidal component
Boat's speed through water