I have a similar size pot, I put a total of 2 qts liquid, about 1/3 apple cider vinegar and 2/3 water with a full pot of crabs. I turn the burner on high and leave it on high the whole time, and I cook for 25 minutes after I first see steam. If I have less than a full pot I add extra liquid, since lots comes from the crabs during cooking. If in doubt add more rather than less liquid, its bad to go dry during cooking and scortch the crabs.
Also I installed stainless bolts thru the bottom of the steamer basket to raise it up a bit and keep the crabs out of the liquid, if you do that make sure not to raise it too much so that the lid won't fit snugly.



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