(USS Greeneville)
The "Ehime Maru" wasn't sitting still - in dw terms, it was in transit mode. It was heading somewhere, and had its radar on.
I read the report; here's roughly what happened.
The sub had been tracking the EM for some time, but had proceeded on a straight to-from course so that they didn't have a good solution - the range was inaccurate. They did sweep the periscope, but didn't see it. (Some crewmember speculated that it was a problem of the wrong set of optics being used, AFAIR)
Then, they went down, did some hefty maneuvering, and did an e-blow landing the EM between the sail and the rudder; the rudder tore through several compartments including diesel tanks.
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