Yes and yes.
This is from Wikipedia
https://en.wikipedia.org/wiki/William_B._Cushing :
"It was Cushing's daring plan and its successful execution against the Confederacy's ironclad ram CSS Albemarle that defined his military career. The powerful ironclad dominated the Roanoke River and the approaches to Plymouth through the summer of 1864. By autumn, the U.S. government decided that the situation should be studied to determine if something could be done. The U.S. Navy considered various ways to destroy Albemarle, including two daring plans submitted by Lieutenant Cushing. They finally approved one of his plans and authorized him to locate two small steam launches that might be fitted with spar torpedoes. Cushing discovered two 30-foot (9.1 m) picket boats under construction in New York and acquired them for his mission.[citation needed] On each he mounted a 12-pound Dahlgren howitzer and a 14-foot (4.3 m) spar projecting into the water from its bow. One of the boats was lost at sea during the voyage from New York to Norfolk, Virginia, but the other arrived safely with its crew of seven officers and men at the mouth of the Roanoke. There, the steam launch's spar was fitted with a lanyard-detonated torpedo.
On the night of October 27–27, 1864, Cushing and his men began working their way upriver. A small cutter accompanied them, its crew having the task of preventing interference by the Confederate sentries stationed on a schooner anchored to the wreck of "Southfield." When both boats, under the cover of darkness, slipped past the schooner undetected, Cushing decided to use all 22 of his men and the element of surprise to capture Albemarle.[7]
As they approached the Confederate docks, their luck turned and they were spotted in the dark. They came under heavy sentry fire from both the shore and aboard Albemarle. As they closed with Albemarle, they quickly discovered she was defended against approach by floating log booms. The logs, however, had been in the water for many months and were covered with heavy slime. The steam launch rode up and then over them without difficulty. When her spar was fully against the ironclad's hull, Cushing stood up in the bow and detonated the torpedo's explosive charge.[8]
The explosion threw everyone aboard the steam launch into the water. Recovering quickly, Cushing stripped off his uniform and swam to shore, where he hid until daylight. That afternoon, having avoided detection by Confederate search parties, he stole a small skiff and quietly paddled down-river to rejoin the Union forces at the river's mouth. Of the other men in Cushing's boat, one escaped, two were drowned, and eleven were captured.[8]
Cushing's daring commando raid blew a hole in Albemarle's hull at the waterline "big enough to drive a wagon in." She sank immediately in the six feet of water below her keel, settling into the heavy bottom mud, leaving the upper armored casemate mostly dry and the ironclad's large Stainless Banner battle ensign flying from its flag staff, where it was eventually captured as a Union prize.[8][9]"
Carl Kriegeskotte directed a documentary of the mission for the History Channel using his own launch as well as Dave Thorpe's. Photo from collection of Kent Lacey

- 77867882.jpg (124.03 KiB) Viewed 11761 times
It was not easy to convince Allnutt. All his shop training had given him a profound prejudice against inexact work, experimental work, hit-or-miss work.