Unlike SS08, completion of prior objectives is not usually necessary for the “activation†or completion of an objective.
However, completion of the preceding objective is usually what makes the marker on the chart visible. In this case, the marker would be at the dock. It is not necessary for the marker to be visible in order for an objective to be completed, as long as the player in the right place.
It is also, in most cases, necessary to satisfy the conditions of an objective before the mission logic can proceed to the next state.
If you are not getting messages that you need to go back farther, or turn around, then the objective may not be active, and Joey may be right.
The first objective is the teleport, which you have done.
Completing the next objective gives the message “You have entered the Port of Calaisâ€, starts objective 3 “Moor at the designated berth†and makes the marker alongside the dock visible.
Tying up to two bollards with your ship’s stern even with the end of the dock should complete the objective.