[half geek]

The short answer is I do not believe it will ever be disabled for a period after the autonomous period.
Edit: unless specifically disabled by the field operators.

In the default code, the robot is either in autonomous mode or not. Separately, the robot is either enabled or not.
In the following code segment from main(), the RC executes User_Autonomous_Code() if it is in autonomous_mode. User_Autonomous_Code() is a while loop, meaning the autonomous code and only the autonomous code will execute while (autonomous_mode). Immediately after leaving the autonomous while loop, main() calls Process_Data_From_Local_IO().

if (autonomous_mode)
      {
        User_Autonomous_Code();
      }
    }
    Process_Data_From_Local_IO();