1. A computer-implemented method of detecting a constant brushing event comprising: receiving, at a remote server, navigational reports associated with at least two vessels; decoding, by the remote server, the navigational reports into a form for display and analysis; computing, by the remote server based on the navigational reports, a domain and a trajectory for each of the two vessels; determining, by the remote server, a brushing incident by detecting an intersection of the domains of the two vessels along the trajectories; and in response to determining a number of brushing incidents exceeding a predetermined maximum number, wirelessly transmitting , by the remote server, a report of the brushing incidents to one or more mobile devices remote from the server and the at least two vessels.