Just dug out "Harrier GR-3: From The Cockpit" (well, rescued it my from my folks loft) by Mike Shaw.
He mentions the story of one Cliff Middleton who ejected sideways when hovering in a wooded clearing in Germany and was deposited alive, sans parachute, in a muddy field.
Perhaps this could have been the one in the documentary? As opposed to the aforementioned fatal accident.
Cheers
Gareth