In 1988, Harpoon missiles were used to sink the Iranian frigate Sahand during Operation Praying Mantis. I was throttleman aboard USS Joseph Strauss DDG-16 that fired those harpoons. Got the pictures of the burning, sinking Sahand courtesy of some flyboys from USS Enterprise.
Mea Culpa.
I just looked it up on Globalsecurities.org and it does not discuss the heat seeking configuration I am familiar with. Of course not all the good toys are configured for submarine launch.
MM1(SS)
USS Albany (SSN-753)
USS Greeneville (SSN-772)