For the kind of basic manual shooting you're doing, you need to center the crosshairs on the target with the stadimeter on, then click the "send range and bearing to TDC" in order to update the gyro angle. I wouldn't advise using the position keeper at all when you're learning, because the primary purpose of that is to keep track of where the target MIGHT be assuming he hasn't changed speed or course since the last periscope observation.
Second item, make sure you cycle through all the tubes you intend to fire and hit the Q key to open the outer doors BEFORE you get to the "final bearing and shoot" stage. In the stock game the tubes will open automatically when you fire if you forget to open them before - but that takes a few seconds, so by the time the torpedo actually leaves the tube the gyro angle is ancient history and will nearly always miss behind.
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