Sauce this if you have the info. I'm pretty sure (like better than 99.9999%) sure there isn't any such critter. I've worked in ASW and mine countermeasures for decades. There isn't any such torp I'm aware of, either NATO or otherwise. They don't hop, that would totally defeat the existing guidance systems which either work in water (acoustic) or above it (other type of radiated guidance). And they sure as hell won't be wire-guided if they're air-launched.
A floating mine is doubtful, they're the easiest to avoid. And why bother with outdated tech when newer moored (tethered undersurface) or bottom mines, including those that come after you, are so readily available and cheap?
The ship I analyzed a week ago (limpet) was struck above the waterline. That one, however, was black and had a red anti-fouling paint from keel to freeboard.
This sure as hell isn't the same ship, it must be the second ship. They didn't completely sandblast the hull and put on faded green at the waterline. Without pics of this one afloat at the time of the damage, it's hard to tell just how high this one was riding, although judging by the damage it must have been near to slightly below the waterline.
The crew saw flying objects, my ass. The only shit they saw flying was parts of their hull after the explosions.