Yes, we are (well the boat is) autonomous! The first autonomous sailing was yesterday morning. There were no major issues, the boat sailed the course very well but with a few small quirks. The local radio controlled sailing club was out with their boats, so there was a bit of traffic in the water. The boat is blind, since it has no camera, so I needed to manually control it at times.
Below is a video of the autonomous mode, you can see the boat going from one waypoint (yellow circles) to the other. Sorry about the shaky video, it was worse.
Later in the day I did another sailing when there weren't any other boats on the water and the boat sailed the course successfully around 6 or 7 times over.