I remember some pieces of the story.
It was a small but FTL cabable ship, I seem to remember some kind of military discipline, they were doing something routine (patrol?) when "things went wrong".
They end up hiding under the water, a female tries to make telepathic contact with the people on a boat in a storm, and they misunderstand her and throw Jonah overboard, they rescue him, and "have to" put him on the beach.
This may or may not have also had the uptimers using modern engineering techniques to help bring down walls of a fortified city by tunneling underneath them, while the local tribes marched around blowing trumpets... (Jericho ?)
As requested, I read this in English, in the late 70s-early 80s, but it was a used paperback book, about a half inch or so thick. I think the cover was yellow ;-)
Another fragment of memory - There was a storm on the surface, they saw a primitive boat having trouble. The female telepath tried to send the sailors an image of a drag anchor (or sea anchor), to help them ride out the storm, instead, they throw over the Jonah.