Your sonar man will tell you from his reports about the nearest sound etc. from his icon on the lower left hand side of the screen.
If you want to listen "manually" hit "H" key or click into sonar room from where the captain bunk is and click on the wheel to spin it around, when the ship comes into range you will hear the chugging of the propeller and the notepad will tell you the location of the ship.
Hope this helps
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