In-field experiments with two autonomous kayaks verifying the COLREGS ``Crossing'' Rule 15,16 behavior. The two vehicles approach on a collision course in a crossing situation. Vehicle 1, in red and moving south-west at the near-collision point, is the "give-way" vessel that needs to avoid crossing ahead of the other vehicle in yellow designated as the "stand-on" vessel. In this experiment the two vehicles are running "waypoint" behaviors that put them on a collision course. The waypoint behavior penalizes maneuvers that result in detours. So when the COLREGS behavior becomes active on the give-way vessel, the compromise between the two behaviors is a maneuver that reduces speed until the collision risk is sufficiently reduced.