Just finished the 140 NM hop from Freeport to Port Aransas.
didn't eant to run up the spinnaker single handed (my 13 yr old son was there... but he has less than 2 days experience so far... so i call that single handed).
So with the wind almsot exactly on my stern (for the heading I needed) I fought a too broad reach for a about 7 hours, till it started to feel to like work. Then brought in the cloth, started the diesel, engaged the auto pilot.. and headed on. vid links here show the broad reach (which was putting me 45 degrees off my heading, and would have made me 14 hours late for my ride back) 2nd video ends with a nice little shot of auto-pilot doing her thing.... love it.