For a positive trace-class operator $C$ and a bounded operator $A$, we provide an explicit description of the closure of the orbit-closed $C$-numerical range of $A$ in terms of those operators submajorized by $C$ and the essential numerical range of $A$. This generalizes and subsumes recent work of Chan, Li and Poon for the $k$-numerical range, as well as some of our own previous work on the orbit-closed $C$-numerical range.