You have to do it at night. There's no question about it -- you must time the insertion for night.
What you do is plot a course for the location, making sure you steer around main convoy and patrol routes. These should be obvious -- most of the time, they go right down the deepest part of the channel or harbour.
This will give you an estimated time to each waypoint. Now it's just a matter of controlling your speed so that you pull into the area around 11pm. I always like to be able to give the agent at least a few hours of darkness, instead of pulling in there at 7am and he's got to make a run for his cover.
You'll need to allow for slow running on batteries during the approach. Once you make the insert, flog the hell out of it to get back to deep water. You'll still need to be careful that you use 2/3's speed until you get out of visual range of any artillery, but after that, you do 19kts on your escape route.
Your escape route might be different than your approach route. During escape, I usually get out into the middle of the channel doing full speed, so I'm completely out of visual range of the coastal batteries. Don't be afraid to dive and change course if you blunder into a convoy or something. Running at 8m (deck awash) is one tactic to be able to stay on the surface while evading a patrol or convoy, but use it very carefully.
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