We are not legal adjusters or law enforcement. Insurance companies typically don't try to find fault in these situations, but rather determine which coverage would apply to the claim.
From what you explained, it would appear that you would be at fault in this situation, but again we aren't an authority in this determination. The police officer and/or court judge would make that determination if the state is ticketing you with the accident.
State laws differ but in general the insurer tries to determine which driver is at fault in an accident. This typically means that an insurance adjuster does have the right to disagree with a police report and determine fault in a different manner.
An adjuster's investigation and determination of the claim usually takes into account both drivers' recollection of the accident and the damage of both vehicles. Many times a claims adjuster's findings will agree with the accident report but there are times when it does not and they assign blame differently then the police.
Some states use comparative negligence, where fault isn't assigned to one or the other, but distributed between all parties.
If you are in need or insurance for your boat or other water craft you can contact our partner Safeco by following the above link or by calling 1-800-936-0356.