What does the dial that has ESP, D1 & D2 do? What should I have it set on if I want to have automatic gear shift and do nothing?

 

I believe ESP is no shift Automatic mode, and D1 is shift mode low range and D2 is high range shift mode.

 

ESP is electronic push button shift, D! is auto LOW and D2 id Auto HIGH

 

ESP is 5 pre-selected swash plate angles so you can "shift gears". (there are no gears in the trans, only in the sub-trans)

D1 - keeps the engine rpms in the peak hp band
D2 - keeps the rpms in the peak torque band

Honda's original idea behind D2 was for when you started out on slippery surfaces you were less likely to spin the tires.

Honda has since eliminated D2. I use it a lot when driving on smooth level trails because the rpms are lower than the are in D1.