The worst moment came hours later, when he had to parachute out of his B-25 bomber over China in the middle of a heavy storm.
"That was the scariest time," said Richard Cole, now 98 years old.
"There you are in an airplane over a land you are not familiar with, under a big weather front, very active with lots of rain, with thunderstorms and lots of lightning and you are going to jump out," he said.
Out of the 80 men who took part in the storied Doolittle raid that boosted America's morale in the early days of World War II, only four are still alive.
Cole and two of his fellow veterans, also in their nineties, attended a "final reunion" yesterday at the US Air Force's National Museum in Dayton, Ohio.
In a ceremony webcast live and attended by family and dignitaries, the three elderly men toasted comrades who have died since the raid, as well as the five airmen who perished in the operation.
The Doolittle crews "inspired a nation," Air Force chief General Mark Welsh told the veterans, and "you turned the tide of a war."
The raid has been immortalised on screen and in numerous books, but Cole said he never expected the operation would take on so much importance.
"I never dreamed this thing would last so long and that so many people would be interested in it," he said in a telephone interview with AFP.
When he volunteered for the top-secret mission, Cole knew it would be dangerous but he only learned of the target aboard the carrier USS Hornet in the Pacific Ocean.
Once the crews were told they would be attacking Japan, there was "a lot of jubilation," he said.
"But then it became kind of quiet because people were realising what they were going to be doing.
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