To add to that, automate as much as you can. I like to go to radar depth (12m in the Balao) beyond likely detection range, mark the locations of the targets I wish to harvest, open the tubes, set my torpedo depths, choose 1 or 2 firing positions that maximize the number of targets I can hit in a single salvo, then plot my attack and escape courses. Before entering those courses, though, be absolutely certain to already be at your chosen speed; otherwise, some joyriding ensign will order all ahead standard and awaken any listening hostiles.
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