The Shonen Maru 2 is a security vessel; it is not a whaler from what I understand. Instead of a harpoon gun it has water cannons and acoustic guns, that it turned on well before it got close to the hardly moving AG.
I did just copy and paste from a much earlier post and have a better understanding of the AG cockpit now, solely from limited visual inspection. If the controls are only in one place, just behind the cockpit windows, the water cannon would have had to cause a crew member to move forward uncontrollably to have any chance of physically moving the controls; unless there is something like a fly bridge in the open cockpit area.
Perhaps the water cannon was hitting the windows of the cockpit so the last thing the pilot saw was the hard starboard turn and when crew started yelling to get out of the way the pilot made a blind choice?
No matter the less than 5 second thrust of the AG, the collision happened because the Whaler Captain violated the rules of the road with regards to the overtaking vessel. Sure, go ahead and charge the AG pilot with being a panicky idiot; he still did not cause the incident, in many opinions much more learned than moi.