From season 3 of McHale's Navy:
Ted Knight guest stars as Admiral "Go-Go" Granger, and shows up about halfway through the episode, "The Fountain of Youth". Captain Binghamton (Joe Flynn, later the voice of King Vitaman) commandeers the PT-73 on maneuvers, and ends up unwittingly destroying the crew's secret still, which leads to chaos.
Bob Hastings (Lt. Elroy Carpenter) appears at the start of the show. He & Knight would work together on the Superboy shorts a couple of years later.