Your typical sailboat does (at best) 7 knots... around 8 mph.... assuming it can move at all. There is no excuse for not listening on channel 16, But its not mandatory, especially pleasure boats. The range is over 100 sq miles. If a patrol boat had to go visit (say half an hor from dispatch), it coul take 1 to 3 hours to get out of the way (I imagine that a rocket wont launch in a 'good wind' for a sailboat...) say force 4....
It has nothing to do with 'training' or experience... just manners.
Having accidently sailed a 10mtr motor boat into a live fire range, a small error in navigation in trackless seas can be a bit embarrising (though I was on 16 at the time, I missed the first call being on deck at the time). I didnt miss the destroyer giving me a bollocking....
As said earlier, it blowed up in any event....