The country's economic collapse,coupled with its deep political divisions,has led more than 4.5 million Venezuelans to emigrate since 2015.
A coast guard sergeant guarding the ship was also injured. Locals blame pirates.
Juan Guaido accused Nicolas Maduro of using his uncle,to threaten him as he returned from an international tour rallying support to topple the president.
A high-profile visit to the US by Venezuela's self-appointed interim president Juan Guaido appears to have roiled Russia.
After meeting with the Colombian President and US Secretary of State,Guaido plans to travel to the World Economic Forum in Davos,Switzerland.
The opposition leader and his supporters pushed through rows of National Guardsmen blocking Congress,holding a swearing-in ceremony after power was cut.
Luis Parra insisted rules were followed when he was elected head of the National Assembly when Maduro security forces blocked many in opposition from voting.
Political rivals of US-backed opposition leader Juan Guaido swore in their own leader while opposition MPs were blocked from the chamber.
As the economic crisis worsened in Venezuela over the past decade,old acquaintances began recommending the school to families fleeing to the US.
Fifteen countries including the US are trying to devise new measures to support a re-establishment of democracy and respect for human rights in Venezuela.
The tense 11-hour stand-off created a diplomatic embarrassment for Brazil's right-wing government as it hosts a BRICS summit.