The preamble to Part 2 of the RRS states:
The rules of Part 2 apply between boats that are sailing in or near the racing area and intend to race, are racing, or have been racing. However, a boat not racing shall not be penalized for breaking one of these rules, except rule 22.1. When a boat sailing under these rules meets a vessel that is not, she shall comply with the International Regulations for Preventing Collisions at Sea (IRPCAS) or government right-of-way rules. However, an alleged breach of those rules shall not be grounds for a protest except by the race committee or protest committee.
Since the boats were not racing, its a IRPCAS situation - and a fairly straightforward insurance claim.