Do whales ever breach under a boat?

I saw this brief video and immediately thought of the famous line from Jaws, “You’re gonna need a bigger boat.” The boat of whale watchers pictured in the video is not small, but not compared to what lurks right under it, it’s way outmatched.

A large whale breaching is one of nature’s most impressive sights. But do whales look up to make sure there is nothing in the way before they hurl themselves toward the surface? The mom on the boat in the video clearly became terrified the whale might come up under or land on their boat. How realistic was her fear?