The first thing that you notice is that these are
hobgoblins. (Nah, call them what you want, though it does make a slight difference. Since you've got no knowledge ranks, though, your character might not know the difference either.)
The ship is too far away for you to notice any particular reaction from the crew; their movements simply look like the normal hustle and bustle of a crew preparing to draw into their dock. Clothing, likewise is practically invisible from this distance, though you notice the main markings of the ship: its figurehead (an angel with two pairs of wings, one of which are bent inwards to obscure her nakedness) and the main flag, which displays a coat of arms which you cannot see clearly. The commander is practically invisible to you, though you can tell that they are standing near the helmsman. A sense of determination emanates from them even at this distance, though it seems mostly to be focused on overcoming their exhaustion until properly in port.
The hobgoblin delegation is clearly visible to you, though you cannot tell much about its commander, who is marching to their front with sword and what looks like an expensive firearm at his side. Despite being able to see every scar on his deep orange face, you cannot discern his expression at all. He wears the same markings as the rest of his squad, though slightly more embellished around the edges.
The uniform they wear is a simple one: a dark blue cloak with a red collar over a similarly-coloured tunic which comes down to their waist. Apart from their commanding officer, they all wear tall hats marked with a distinctive coat-of-arms: a helmeted serpent positioned in complicated curves behind a shield bearing the device of a silver trident. You're certain you've seen it in passing before. All of them look slightly bored; this is obviously routine duty for them, and the combination of halberds and livery convinces you that these are probably in the employ of the city, or at least its ruler. You don't know enough about them to tell whether they're regular city guards or some sort of ceremonial representative, but you can at least tell that they seem to have official business with the ship.
Spoiler
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Those rolls were...inconvinient, to say the least. Maybe your hearing is telling you what you need to know about the captain.