In the episode "Troubled Waters", the good Lt. seems to pass some gas and it can clearly be heard. After Columbo first examines the crime scene, he heads to the Dr.'s office to get help for his sea sickness. Just as he reaches the top of the steps just before he reaches the Dr.'s door, you can clearly hear two farts. He even sighs after the 1st one. Now I thought it may have been the floor creaking or the ship settling, but that particular sound is never heard again in the episode. So, say what you will, but I'm convinced it's a fart and the sound guy missed it....or perhaps they left it in. After all, he was experiencing problems with his tummy.
It also happens in Last Salute to the Commodore. When everybody is first on the boat and Columbo leans over to look at where the self-steering vane goes, you can clearly hear it.