When Depth charges are in the water, I usually use the keyboard (actually, I always use the keyboard) for steering/speed, etc. The WIKI site has the keyboard commands. Generally, when charges are in the water, you need to go deep and get moving, but quietly. The time it takes for a charge to sink down can be crucial and allow you time to get away or change course. At the very least, you should change course if there's a charge announcement.
I don't remember the training mission, sadly. I'm already in my 20th career mission soo... yeah. I could look at it later tonight, I suppose. I think I may have missed a couple times in that mission but I know I killed everything eventually and got a perfect score.
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It usually misses, or just hits the hull and dies.
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remember, the torpedoes have a minimum range to arm. They must travel 300m. If you fire at a ship that is approaching you at speed, and it's 400m away, but you're approaching it at slow, then by the time you fire and the fish swims, the enemy could close the distance to make your fish never arm. I've had this happen a couple times, and it's worse in the rain when 300-400m is all that you can see. Targeting by sound is almost a necessity. Anyways, optimum range is from 450 to 2000 meters for type 2 torpedoes. The type 1 can go to 4500 meters, but even firing at that range, you're likely to miss. I usually like to shoot at about 1200 meters.