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Performance was 51 mph @ 5400 rpm.
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From your RPMs it sounds like you are propped right, but I would think you could get well over 50 MPH with a 200 HPDI. Your engine is probably too low in the water.
My McKee Craft 196 is a little bigger than your 20 and I can hit 48 MPH with the 150 HPDI. The 196 with a 200 HPDI will go 60 MPH.