The pair appeared in good health and had enough supplies for the rest of their trip. The Orion tested the yacht's old beacon and radio communication before getting back to Whenuapai.
"This mission has once again demonstrated that our air search and rescue capability delivers vital public service both in New Zealand and overseas," air component commander Air Commodore Darryn Webb said.
Airforce Orions and a NH90 helicopter have undertaken four search and rescue mission in the past 10 days.