This book is very hard to get through but the main lesson is very clear.
If your boat is in a collision with another boat and your boat is not inside your garage, the chances are almost 100% that if an admiralty court gets involved you will be assigned some significant portion of the blame.
As you read decision after decision it is clear that the court figures that if two boats collide they both did something seriously wrong.
It is so hard to get a 100% judgement against the other party as to be practically impossible.
It may not seem fair to us but if you read the cases it is clear that if you get to see the judge it is just a question of how much you screwed up not if.