Complex sentence: Satisfied with the results, "Aikoku Maru" then steamed away to pick up survivors from "Hokoku Maru" Later, the "Aikoku Maru" came back one more time, firing a torpedo which missed the tanker.
Split into simpler sentences: Satisfied with the results, "Aikoku Maru" steamed away to pick up survivors from "Hokoku Maru". The "Aikoku Maru" came back once more, firing a torpedo which missed the tanker.