The sound of the sea gently lapping at your boat, basking on deck in the sun, and hopping between islands brimming with history - sailing really is the perfect way to explore Croatia.
And with fewer crowds and traffic jams, along with milder temperatures and steady winds, autumn is one of the best seasons to experience the wonderful jewels of the Adriatic.
Sailing really is the perfect way to explore Croatia
With more than 1,000 islands - making the Croatian archipelago the second largest in the Mediterranean - you'll be spoilt for choice, while sailing the same calm waters as historical figures such as Odysseus and St Paul.
There are ten unforgettable UNESCO World Heritage sites within easy mooring distance - the hardest decision is deciding which to visit first.
Stroll around the 2,000-year-old ancient town of Poreč's religious monuments, take in the beautiful architecture of the Palace of Diocletian in Split, or sail to Dubrovnik to witness the Old Town's monumental walls and limestone fortifications that date back to the ninth century.
Enjoy them without the queues and the intense heat of the summer - and you'll also have your pick of the quaint restaurants and boutique bars.
With more than 1,000 islands - making the Croatian archipelago the second largest in the Mediterranean - you'll be spoilt for choice (boat pictured near Lastovo)
Other must-sees - of which there is an abundance - include Losinj's 3,000-year-old statue of Apoxyomenos, shopping on Zlarin for coral souvenirs, and the hidden submarine bases on Vis and Lastovo.
And don't miss visiting the oldest public theatre in Europe on Hvar - it has reopened, following a 20-year renovation.
After a busy day, chill out on board your vessel, feeling the wind in your sails as you drift on the tranquil seas.
At around 23°C, the water is still warm enough to swim in during autumn, so make sure to take a dip - choose from one of the thousands of picturesque spots among the islands and inlets.
The hidden submarine bases on Lastovo is one of the many must-see sights
Croatia is also a haven for foodies, with its Mediterranean diet - a cultural heritage protected by UNESCO in 2013 - of fresh fruit and vegetables, and olive oil.
The Adriatic Sea also provides some of the finest seafood in the world. Stock up on these delights at local markets and enjoy them in the sanctuary of your boat - or head to an eatery inside one of the hundreds of lovely tiny bays.
On Žut, an island with no water, electricity or ferry links, you'll find restaurants offering incredible seafood.
These attract Hollywood A-listers seeking refuge from the paparazzi. And in Kornati islands, you can try the famous Pag lamb - definitely slow food at its best wine kit (all4webs.com).
Wine lovers will also fall in love with these beautiful islands.
With its sweeping valleys and craggy mountains, Pelješac is where you can explore vineyards and enjoy a delicious glass - or two - of the peninsula's famous Plavac Mali, while sampling fresh oysters.
Head to the island of Cres to see spectacular griffon vultures, with their impressive ten-foot wingspan
Book a tour on the island of Kaštela, and visit the birthplace of the original Zinfandel, and learn more about the country's wine tradition that dates back thousands of years.
Croatia offers a sailing experience unlike any other - you're surrounded by sensational wildlife and natural beauty, as more than ten per cent of the country is a national park or nature reserve.
Of these, the breathtaking Mljet, Krka, Paklenica, Kornati and Brijuni national parks can all be explored by boat - and in autumn mooring fees are often waived.
Brijuni has a fascinating safari park, where animals - including elephants, llamas, zebra and camels - roam free.
The spectacular collection was gifted to a former president by the 60 heads of state that visited him at his summer residence.
Just remember to pack a camera!
Or head to the island of Cres to see spectacular griffon vultures, with their impressive ten-foot wingspan - it's definitely a unique holiday experience!
A sailing getaway to Croatia in autumn really does make for an escape to remember.
Being on board your own boat ensure an idyllic place to relax.
Soak up the sun, splash in the sea and drift in leisurely fashion, taking in the scenery and the experience at your own pace - making holiday memories that will last a lifetime.