It depends on how noisy the launch is and how easy it is to detect the torpedo. A good example is Jive Turkey shooting a torp here:
And likewise in the same video if you watch the map closely you can see a launch from an undetected sub, but contact with the torpedo is immediately lost.
Edit - it seems Youtube can't handle showing different parts of the same video in one post. The first part you want to watch is at 21 minutes and the second part is at 30 minutes.
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