You can press keyboard 'i' and see what remaining torpedoes you have. You can click and drag torpedoes to the desired tubes for reloading. If auto reloading is enabled, which is default, then it should take care of itself. To load the external reserves one must be surfaced. You need to make sure there is enough crew in the torpedo compartments for loading to take place (F7). If playing without unlimited torpedoes in the realism settings you have to return to a friendly port and end the patrol to rearm. Some mods also have supply ships and u-boats you can rearm at whilst at sea.
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