This actually happened in WWI kind of... but to a U-boat. Arnauld de la Periere, commander of U-35, had just turned in for the night. A half hour later, he heard this loud "BANG". He rushed out to the bridge to see what was going on and saw the bridge crew standing there white as ghosts staring at a British submarine and a torpedo heading straight at them. Luckily the British captain had set the torpedo too low and it went under them allowing them time to escape.
Later, the captain found out from the watch crew that the didn't see the British sub until it was too late. Apparently the first torpedo had caught a wave just right, jumped out out the water went airborn, bounced off the deck of the U boat, slid off the other side and kept going.
I bet that watch crew had to clean out their pants that day.
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