Is this sentence correctly worded?

Is this sentence correctly worded, particularly is it clear that the "they" after "while" refers to Kleef and Arietta? Kleef and Arietta ordered Jang and the men-at-arms to free the Wave Wyvern from the reef and then sail away from the Shadovar, while they left the ship to assist their other companions, who had been forced to leave the Lonely Roamer after it was attacked by a large aquatic shadow monster that the Netherese had magically summoned.