The kind of thing you are describing here isn't going to only come into effect eithin a couple of metres of the yacht, but have no effect outside that.This is what we screw with, you think you have good data from the GPS, but the signal from the sats is very weak, you can easily override it with a slightly stronger signal but with false timing signals. This is exactly how the Iranians diverted one of the USAF's very advanced stealth UAV's. On regular aircraft you have RAIM data to check against GPS timing reliability. We are supposed to check it before we do approaches in poor conditions. The poor little drones don't have any way to check that.
Short version, just having 20 sats with level 5 reception does not mean that the timing signals it is working with are totally valid. Like I mentioned before, the military is playing with this stuff, actively. My bud here in Flagstaff was the head of the Naval Observatory, which is located here. It is the injection source for timing corrections to the US GPS satellite constellation. Learned quite a bit from him, more than I got from my regular exposure to the tech. He sadly passed last year, quite suddenly.
Iran captures UAV
Whatever the explanation is, it's going to be a lot less exciting than that.