Peshwa
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In the case of SLCMs, yes they can be delivered via torpedo tube and take a vertical trajectory once they breech the water. In the case of harpoon, it's carried by a canister to the water's surface where the missile then breeches and is fired:
This is what the Harpoon looks like while still in its canister:
They are launched from torpedo tubes in the same manner as any other torpedo by submarines that lack a VLS system, like Japan's Soryu Class:
Primarily being an anti-ship missile, with the block II having the capacity to strike land targets, Harpoon takes on a more flat trajectory and opts for a sea-skimming attack run, though they also have a dive-on-target, top-attack mode too which sees them take a higher flight profile and dive on their target from above.
Other submarine launched missiles, ones also fired from torpedo tubes, and on newer boats VLS systems, have largely the same method of delivery, with some differences. Tomahawk isn't launched in an encapsulation or canister, but is ejected from the torpedo tubes via water-impulse (Torpedo tubes) or gas propulsion (VLS). It floats quickly to the surface where its booster ignite carrying the missile along to its target, often in the vertical climb we see with the recent Babur test:
Missiles fire from VLS tubes, like this Tomahawk Block III launched from SSN 774 take a more vertical initial climb, but level off during the duration of their flight. Notice the scoop and wings have yet to deploy.
That isn't always the case however. This photo from HMS Astute shows a TLAM Block III being launched from the submarine's torpedo tubes on a very high trajectory - just like the Babur video:
What we saw with Babur is within the norm for submarine launched missiles, though Babur was believed to have been launched via a submerged testing barge rather then a submarine.
Long story short: yes, it's possible to achieve a vertical trajectory with a torpedo tube launched cruise missile.
Gracias Madame!
Appreciate your input!