From what I've heard;
The Resolute - on a repositioning voyage - was drifting off the coast carrying out repairs to one of her main engines, the other being kept at immediate readiness.
The Navy vessel approached, and ordered the resolute to alter course to an island in Venezuelan waters, presumably to be searched. Because this would be a significant deviation from the ships planned passage, and because the Resolute was in international waters at the time, the master telephoned the DPA to discuss the matter.
While on the phone to the DPA, the Venezuelan navy vessel apparently opened fire on the Resolute, before ramming her bow to (I guess) force the Resolute to change course towards Venezuela. The Navy vessel rubbed up against the Resolutes 1A super ice strengthened bulbous bow, which caused the Navy vessel to take on water, eventually sinking.
The Resolute offered assistance to the navy vessel, which didn't respond, then contacted the nearest MRCC. She was released by the MRCC after approximately an hour, to continue passage to Cura