Very Coool.
I had an almost identical experience in Dana out in the kelp by the point about 3 weeks ago.
I was fishing tied off to some kelp and saw a mom and calf gray about 150 yards away and thought to myself "Very cool, but please stay over there." I was also very surprised to see them swimming in among the kelp, next thing I know I hear something, look up and all I can see is a big swirl where something very large had just surfaced.
Next thing I know less then 5 feed under the kayak out from behind the kelp appears the big mom whale she rolled over a bit, looking at me with those massive eyes, and suddenly the calf comes rolling up to..... Both surfaced and I was within touching distance of the calf. I was too busy crapping my pants to worry about my camera. Just as you said I was scared the wake from them surfacing would rock me, but they were so graceful, gone without a single splash.
That experience was the entire reason I went out and bought a gopro, I would have loved to have got that moment on camera.
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