The navigator uses a depth sounder for this, you do not need to have sonar equipped. If you click on reports, you should see a depth under keel icon, or picture-wise, the hull of a boat with a line underneath. H.sie has some mods out that will alter the sonar to be more realistic. As for not taking damage when bottoming out, I have yet to find a mod for that.
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I can't tell if I have found a rope or lost my horse.
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