have you tried to rebind rx thats in boat?
did you test motor... disconnect from esc and hook it to a D cell unless it has 3 wires..
a link to boat and more info will help... will rudder turn right to left with steering wheel movement?sorry dint see it was a 2 year old post...
Trainy check the water sensor if you can... sound like its not reading its in water...you might try to short circuit sensor to think its in water... best to know something about the wire setup in your boat...