some mathematics behind the collision
This article was linked in the one above.
From that article:
When considering collisions such as these, the first reference is always the IRPCS, the ‘Rules of the Road’.
I don’t agree that the COLREGS is the first reference. First is understanding the situation.
According to the reports the bridge team believed that the tanker was a “lighted object”. If the traffic situation was not understood by the bridge team how can they correctly apply COLREGS?