Salut,
Ok, I had this issue, and I can't remember what it was. I need to think, it will come back to me today I am sure.
-- try to not have colliders overlapping, your vessel is big so you can leave spaces within each of your colliders
-- how do you control the vessel movement? via force or with iskinematics on?
-- forget adding redundant colliders. you need to keep it clean
-- try changing the physics collision detection to continous dynamic. and try to add a physics to your colliders as well
also, do you really need physics here? that's likely something you can avoid completly since your vessel doesn't seem to need physics based movement like jumping or falling realisticly. so maybe you could find another way out?
bye,
Jean