Simrad Robertson AP9 Mk3, Instruction Manual, Page: 127 / 202

Installation
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The effect is selectable in steps by the Increase/Decrease buttons.
OFF indicates that there is no trim effect. The effect increases
gradually when higher number is selected.
The AUTOTRIM parameter is reset every time the AUTOPILOT
button is pressed and when a course change greater than 10° is made
by the course selector.
The AUTOTRIM is automatically enabled when the vessel comes
within 10° of the new course to steer.
Range:
OFF – 3,2.
The following parameter settings (NAV. FILTER, NAV GAIN and
NAV. TRIM), only appears when NAV function is selected.
Nav. filter (Only in NAV. mode)
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NAV. FILT
This adjustment is for XTE navigation only, and not used in CTS
mode (e.g. satellite receivers).
In areas with poor reception and where the Cross Track Error (XTE)
from the navigational receiver is unstable, this filter averages out the
values.
With a high setting on NAV. FILTER, it will take the autopilot longer
to bring the vessel back on track.
Range:
1.1 - 2.5 in 0.1 increments
Nav. gain (Only in NAV. mode)
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NAV. GAIN
This adjustment is for XTE navigation only, and not used in CTS
mode (e.g. satellite receivers).
The gain is a proportional value that is dependant upon the Cross
Track Error and determines how many degrees the autopilot has to
change the vessel's heading in order to bring the vessel back on track.
The higher value of the NAV. GAIN the greater correcting. Slow
speed vessels should use a high value and fast vessels a low value.
Range:
OFF – 6.4 in 0.2 increments
Nav. trim (Only in NAV. mode)
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NAV. TRIM