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The green circles mean that if you switch your ammo over to the grappling hook (right click or use the scroll wheel on your mouse), you could board the enemy vessel. Once you've switched, aim for the green circles. If you're successful, you'll see the rope slung between the ships and the enemy ship will be drawn towards you. Exit using the cannon and go to the side of your ship. Once the enemy ship is close, you should see a message to hit control to board enemy ship. Kill the enemies on board and you'll automatically be returned to your ship and the other ship will sink.
I find the best way to improve your sailing is to sail with a crew. Stay at the helm and use your broadsides while they shoot at the enemy ships. The crew should shoot down the masts first before damaging the hull for the highest rep points for everyone.
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