What steps should the master of a vessel take in case of a collision with a pilot boat?

This may not be the legal answer you may be looking for but With 20 years experience on the water I will tell you what should be done. Pilot boats are designed to come alongside the ship as it is entering port or after it has departed the port so it can drop off or pick up the pilot. They are rugged boats that are ran by very experienced masters. If there is a collision between the two vessels and the pilot vessel is damaged, then the larger vessel must sound the danger whistle, 4 or more short blasts on the whistle and if possible reduce speed and or stop. Large vessels are not able to stop in a short length and most often as they are departing or approaching a port they are "constrained by draft." This means that they cannot manuever around without going aground which could cause an even greater disaster. The larger vessel will immediately issue a distress call on channel 16 on the VHF FM radio and call for assistance from all other vessels in the area. The Coast Guard moniters channel 16 and they too will be notified. The vessel that makes the call will give the exact position of the mishap and a description of the pilot vessel and whatever information they have on those onboard the pilot vessel. There is always personnel onboard the larger vessel who are in position aft of boarding ladder where the pilot boat picks up or drops off the pilot should the pilot fall from the ladder. They have life rings and lines to throw. Speed is of the utmost importance.