It took five-and-a-half years, but the "Dragonfly" is now ship-shape and ready to set sail out of Onset Bay.

James and Emily Grinsell of Plymouth have spent the better part of that time hand-building a 30-foot-long, 20-foot-wide and 40-foot-tall catamaran. On Sunday morning, it felt cold sting of the Atlantic for the first time. Most importantly, it floated, with no leaks.

For the past three years, the boat's been in Onset, where the Grinsells, friends and family continued a build that started in Plymouth. In November, the two will sail down the East Coast to the British Virgin Islands, which will be their home for the foreseeable future.

The Grinsells have lived in the boat on shore in Onset for the last month or so, but now they’re free to go.

“Our life is going to dramatically change. Now that we’re done building it, we can play with it,” said James, who previously crewed on yachts in the Caribbean, where he was driven to build a boat of his own. “I saw things I liked about certain boats, and it inspired me to build my own.”

The couple was lucky enough to find a temporary home for the process in Onset at the residence of Kevin Sousa, a merchant marine who lives by the Point Independence Yacht Club. There, at the spot that was a boatyard in the late 1800s and early 1900s, the Dragonfly has gone from two hulls to a full-fledged sailboat, ready to take on the high seas.

James said the build didn't come without hardships.

“Everything costs twice as much as you think, and everything takes four times longer,” he said, noting that, this past summer, the two put basically all of their time and effort into the boat.

Both Grinsells currently work at the Riverview School in Sandwich, where they’re afforded summers off. The couple’s last day there is October 20, and they hope to be sailing by November.

“The plan is to be bums for a while, and then do sunset cruises and weekend charters,” said James.

Early Sunday morning, a group of 40 or 50 gathered on Sousa’s property, where a makeshift boat ramp had been built by Emily’s father, Kevin McFayden. The boat was then lowered slowly down the ramp using a Chevy Suburban and a cable. By 8 a.m., it was floating in the water.

“I”m relieved. I'm happy it floats and there are no leaks,” said Emily of the wood/fiberglass composite catamaran.

Emily said that over the next few weeks, they’ll do at least a few “shakedown cruises” out to Martha’s Vineyard and Nantucket. For now, they’re keeping the boat on the Sousas' dock in Onset.

“Once we’re gone, we won’t stay anywhere for longer than a couple of days,” said Emily of the Grinsells' future plans. “We’re open to whatever. We have no debt, no house, no kids, no pets — we’re free to go.”

As for their time in Onset, Emily said they’ve really enjoyed it, and she is thankful for Sousa as well as neighbors Courtney and John Steele, who allowed them to use their bathroom and kitchen for the better part of the last month.

“It’s the first boat to come out of here in 60-something years,” said Emily. “It’s been so special being here.”