The problem with the SH3 helmsman is that he 'goes away for a cup of coffee' when the uboot reached the ordered course and the rudder is settled amidship, but never corrects afterwards. After that your uboot is at the mercy of the waves. Only a waypoint would keep your uboot pointed in the same direction at all times. (apart from code hacking or a patch) Only that defeats the deadreckoning challenge, since the waypoint is fixed to some place on the SH3 world (and the line is shown), instead of just being a compass direction it follows.
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