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Over the past several decades, a concerted scientific effort has been made to estimate the drift and spread of spilled oil on the ocean surface. However, tracking spilled oil in open water remains challenging. This research focuses on the problem of autonomous oil spill tracking in oceanic marine environments. We describe a sensor-based guidance, navigation, and control system (GNCS) for oil spill tracking by an autonomous surface vehicle (ASV) in unsteady and uncertain environments. First, we describe the design and development of a yacht-shaped ASV that can track spilled oil on the sea surface using data supplied by onboard sensors to control rudder angle and sail area for navigation. Second, we evaluate the performance of a Ultraviolet/fluorometry-based optical sensor for use as an oil detection sensor. Third, we describe an autonomous ASV decision-making algorithm for target speed and direction based on a complete time history of the scanned area around the ASV by the oil detection sensor. Finally, we describe field experiments conducted at the Osaka University pond to validate the performance of the ASV with regard to autonomous oil spill tracking using GNCS based on onboard sensors data for tracking artificial oil targets. This technology has profound implications for oil spill disaster recovery operations.