You can also check out this vector analysis attack video tutorial (supplemented by some text to go a bit more into detail). It's very similar to the methods already mentioned, requires no calculations or special equipment on your boat and let's you freely choose your attack angle, it's another nice trick to know. There's no "best" way to do things, it all depends on the situation you're in, so it's good to know as many different ways to get the job done as posssible. 
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Running silent, running deep, we are your final prayer
Warriors in secret sleep, a merchantman's nightmare
A silent death lies waiting for all of you below
Running silent, running deep, sink into your final sleep
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