What I've found to be successful - at least early in the war, I've haven't yet played past 1941 - in a convoy attack is to dive immediately after firing, at full ahead or flank, while making a (more or less) 90 degree course change by going hard to port or starboard. If I can put myself directly under part of the convoy, so much the better.
If you have not yet been detected, with any luck the escorts will not start actively looking for you (in particular, as opposed to routine sweeps) until the torpedoes hit and detonate. At that point, you want to be as far as possible from the spot where you fired and as deep as possible. Setting the eels to run at slower speeds also helps as you will have more time between the moment of firing and the moment of impact.
In night attacks early in the war it's also possible to get away on the surface if you haven't been detected yet. Get in, fire the eels, and get out at flank speed on the surface. You can get a lot farther away a lot more quickly but success may depend on the visibility/weather conditions and the skill level of the escorts. Obviously if you do have to dive it's probably going to be after they've got a bead on your position and you probably won't be able to get so deep before the wabos start falling.
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