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Bananabender said.. 
Now I have never done a long race in a boat with wheel steering and have always meant to ask how a helmsman ,like above, can stand for a three or four hour shift and not lose focus or become totally stuffed knowing in three or four hours time you'll have to do it all over again.
Especially when it's a bit hairy and dark.
At least with tiller you are sitting and in most cases can brace with legs when necessary.
I converted a 27 footer from tiller to wheel because it looked cool and turned out to be the biggest pita.
Yep, I know what you mean. The maximum I've done in one stint is 8 hours, and I was pretty stiff and sore, my lower back was really locked. The biggest difference I have noticed as I've spent more hours on the helm is being able to relax by using your balance. I was always near rigid on one leg and the other slightly bent, after a few hours I was just rooted. The key was to focus on my balance so I could keep both legs straight using the incline step (like Ian in the pic). All of a sudden the fatigue level dropped way down, and a few hours is pretty easy. 90 mins is about a comfortable rotation for drivers when racing.
If we're racing really hard no way can I drive sitting. It's like trying to drive a car fast from that position, it just doesn't work. Medium and low winds it's fine and super comfortable to sit.
Autohelm is wickedly good though for deliveries, it's actually more fun to leave it on autohelm in most sea states and wind..