1) They are probing the US reaction to see if there is bite behind all the barking. If things start getting out of hand they can defuse the situation quickly by releasing the sailors, so the risk is small. And so far, US reaction indicates no stomach for a confrontation.
2) Oil prices were too low, winter is still too far away, no other excuse to raise them in sight, and the oil kleptocracy took notice last year how much of a price increase American consumers will tolerate, so it was arranged to have an inflatable boat stray over the border, with no back-up...
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