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Trolling motor for 23' HPS

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Would like recommendations for a trolling motor that would match up well with my boat.  So far I like the self deploy Minn Kota ulterra I-pilot but what shaft length and thrust power should I have with this boat?  I would like the ability to troll thru 2' of water when needed but the majority of the time it would be in 3 plus feet.  I would only fight normal tides in open water......not strong tides in inlets or need to chase a big tarpon.  Thanks for any input you can give me.

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