Another reference you might like:
Handbook of the Nautical Rules of the Road
Chris Llana is one of the authors
Chris Llana is a former Coast Guard officer with a B.S. in naval architecture and marine engineering and advanced degrees in marine affairs (MMA) and law (JD). During his tenure as a civilian at Coast Guard Headquarters, he drafted the annexes to the Inland Navigation Rules and wrote other regulations implementing both International and Inland Navigation Rules.
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As I sail, I praise God, and care not. (Luke Foxe)