I have on super bad situation where my guy was flanked on both sides and had 2 bars of health left. I managed to run and gun the other guy but missed twice on the other. In a desperate attempt I fired a rocket right at the last enemy so that the guy who had only 2 health was barely outside the range of it. 90% accuracy is pretty good, but I had at least one rocket miss by a mile during my playthrough. Luckily not this time. When the guy was surrounded I immediately "knew" he was dead so I was pretty damn pleased that he didn't. This was on Ironman of course.
I had a Heavy surrounded by 3 Cryssalids throw a grenade at his own feet in order to soften them up for the rest of my team that was in range to take them out.