I see a supply ship, how do I refuel and get torpedoes?

[CjStaal]

I run low sometimes. Can I get fuel and torpedoes from supply ships?

[Kip336]

Yes, you get close to the supply ship and then press escape "Return to base at ..... " or something to that effect.
It's like you start a new patrol, but you wont get crew promotions, ship upgrades etc. Just new fuel and torpedoes