There are mods that remove the circled numbers.
Regarding old style targeting: Just don't enable manaul targeting in the game options and don't lock a target once you have it in sight.
The target's data will be entered into the TDC when the "lock" prompt appears on screen without you locking it and will then update as you track the target just like the SH3/SH4 autotargeting did.
I strongly recommend The Dark Wraith's UI mod which not only includes all the TDC dials we're used to from the older versions of Silent Hunter, it also lets you use a the SH3 or SH4 style interface with the dials etc. This mod also removes those little numbers from the torpedo and ships tracks by the way.
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