Peter Burling, the Team New Zealand helmsman, added: I didnt really realise he had gone overboard.
Artemis will now battle it out against Emirates Team New Zealand in the final series beginning Saturday to decide which team will face defending champions Oracle Team USA.
There are three races scheduled for Sunday.
The outcome was a bitter pill to swallow for Barker, who as a former Emirates Team New Zealand skipper who was on the wrong end of one of sports greatest comebacks four years ago in San Francisco when Team New Zealand squandered an 8-1 lead to lose the 34th Americas Cup Match 9-8 to defender Oracle Team USA.
The victor of the best of nine series will go on to challenge Oracle Team USA for the America's Cup.
Artemis Racing managed to stay on their foils for the whole of the second race, while New Zealand kept their hulls flying out of the water for 99.9 percent of the time.
"The main emotion I feel right now is vast pride in what we've achieved over two years", said Barker.
Artemis Racing's billionaire backer Torbjorn Tornqvist leapt aboard the state-of-the art blue and yellow catamaran to congratulate Outteridge and the six-man crew following their deciding win over SoftBank Team Japan.
They now wait to see who emerges from the other side of the draw with Sweden winning three races on Friday to lead Japan 4-3.
"Clearly there were mistakes", he said of the last race, while pointing out that his opponents had also made some.
"I've always said I love racing and I'd like to keep racing". Percy won a gold medal in the Finn class in 2000 Games.
SoftBank Team Japan hit something shortly after leaving its base for the race course.
Barker said although no evidence of damage was detected, the time spent assessing the wings had disrupted the vital period usually spent gauging the conditions just before the race.
Barker was part of Team New Zealand's successful defense in 2000.
The America's Cup, the oldest competition in global sport, was first raced in 1851 around the Isle of Wight and has only been won by four nations.
The result takes Team New Zealand once step closer to a Cup Match with Team USA, with a flawless showing on Sunday - in the lighter breezes forecast for Bermuda - enough to send them through.