The free electron laser with a static guide magnetic field has been investigated theoretically and by computer simulation using a fully relativistic electromagnetic particle code which has one spatial and three velocity dimensions. By passing a relativistic electron beam through a helical magnetic field, high frequency electromagnetic radiation is generated by its coupling to the negative energy electrostatic beam modes through the helical magnetic field. In the regime of strong guide field where Ωce/γ≫k0v0z, the dispersion relation is obtained by using a fluid model for the electron beam and the growth rates are solved for numerically. Reasonable agreement between the theory and the simulations has been obtained. It was found that the growth rate increases linearly with magnetic ripple strength but decreases with the strength of the guide field. In addition, the growth rates also increase slightly with the beam energy. For a reasonably strong guide field (e.g., Ωce=6.0ωpe), the growth rate can be on the order of 0.1ωpe and the efficiency of radiation production has been found to be as high as 16%. However, the efficiency decreases with the strength of the guide field. A theory for the saturation level is developed which relates the efficiency to the continued growth of the electromagnetic wave after the onset of trapping by the electrostatic field. It is found that the growth continues for about one bounce time and the observed saturation levels are reasonably well explained.