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Connecting an ST1000+ to a Garmin

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I have the ST100+ Autopilot, and a Garmin 942SX. I understand that it is possible to connect these two, but am finding the documentation challenging. The ST1000+ shows an NMEA + and - while the Garmin has Transmit and Receive.

Can I connect these directly, or do I need the E85001 adapter which is no longer available?

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