Yep, you just have to go back and load any save from when you were still alive. But it will erase everything that happened that save - you get a total do-over from that point on.
Which is why it's a good idea to make periodic saves during a patrol, especially after you've made a successful attack.
(Insert standard caveats about not saving while submerged or while within contact range of land, aircraft or other ships here.)
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