Hey! That's great!
Isn't it amazing when they finally make a step forward like that? It is heartbreaking at the same time though ... I remember the first time my oldest son fell asleep without me, he cuddled up with his stuffed kitty and I felt the most overwhelming jealousy of that stuffed cat.
Good job, you have a secure and healthy sleeper!
(ps, just clicked your links, um, your ds is your spitting image.)