The "GPS" item of Record Menu #4 of a K-50
The Precise Calibration Menu.
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The astrotracer function has to be set in "Action in B Mode" so that the Astrotracer comes "On" anytime the GPS is "On" and the camera mode dial is placed on "B".
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Precise calibration is a VERY important procedure to insure tracking accuracy. Here is a LINK to a video on how to do it properly.
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If stars show trailling, re-calibrate, if stars still show trailling re-calibrate facing a different direction.
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Stars apparent movement is faster near the celestial equator so the tracer's maximum tracking time is shorter in that part of the sky.
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Shooting targets that are near the zenith can be confusing for the compass. I find that pointing the camera at the object azimuth first at a low elevation and then slowly pointing the camera upward to the target helps improve the accuracy of the tracking.
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Except on the K-r and different versions of the K-5, pressing the Pentax "green" button will switch between Timed Exposure on and off, and when "on" the front e-dial of the camera can be used to set exposure time, without the need to go back to the menu.
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K-7, K-x, K-m and older models are not compatible with the astrotracer.