After reviewing the play!: The Nacra Infusion and ARC 22 are both barging. The ARC 22 comes up after realizing there is no room above the N20, making contact with the Infusion. (Time to react?) The ARC then bears away and approximately 2 seconds later makes contact with the N20.
Infusion responded appropriately. She headed up when challenged and gave up on the pin because the door was shut.
Looks to me that the ARC fended its position against the Infusion by heading up and then bore away to try to catch the pin but caught the N20 with its pole. Should have given way and taken the same path as the Infusion or release its sails before coming back for the pin and follow the N20.
