OK, i'll share the story of my grandfather's heroism as it was explained to me.
Again, I have no technical knowledge, only the story... and the silver star (mom has it).
They were off shore running a torpedo route and fired upon the enemy. In some instances a torpedo could actually about-face and come back to your own ship (assume it starts tracking you instead of the enemy). As the torpedo was coming back to their own ship the "guy who calls out the orders, and maneuvers away from the danger" froze up and could not speak. My grandfather yelled out a command "right, full rudder, all ahead flank" and the "people that make the ship do stuff" made it do what he yelled out and averted the torpedo.
As I can recall (and a tear comes to my eye). My grandfather received letters from his shipmates every holiday season describing their thanks and friendship to him for the greater part of 50 years. And, as the years progressed, less and less letters came, as those mates had died off. Though, some remaining family members continued the cards/letters in thanks. And... once my grandfather passed (who had lived with my parents at their house for his last 4 years) I can remember my parents still receiving those cards in thanks and honor for what he had done for his crew.
At his funeral (at Arlington Cemetery) I will not forget the pride I felt for what my grandfather had done for so many. Following that, we had a memorial in Youngstown where he was born/raised/lived and many of those shipmates who were still alive showed up to celebrate his life. I will never forget that day.
here is the writeup that was made for the Ohio Military Hall of Fame.
http://www.ohioheroes.org/inductees/2005/martauz.htm