Well, there's honestly no point in knowing the contact's depth because unless you're under ice, if you did good tma your torpedoes will find the depth for you without your intervention.
However, that being said, there are a few ways to determine depth.. The best way to determine the approximate depth is to simply go above or below the layer and see which side the contact is strongest on.
There is also of course high frequency sonar, but there's no reason to get so close to a contact that you can see them on hf sonar.. except maybe under ice.
There is an old method we used to use for destroyers in Destroyer Command as well, but I'm not sure if the method still works in DW, probably not, the sonar is totally different. Anyway, the way we'd detect a uboat's depth was by making a sonar run on a submerged contact and using the angle of the sonar energy to determine depth. For example if you made a run on a contact and the contact suddenly stopped producing ping returns at 250meters away, you could safely assume his depth was 250 meters, etc..
I'm not sure if DW's active sonar models the angle of the sonar energy being emitted, so it may or may not be possible to determine depth on a submerged contact pinging. That may be worth some investigation. FWIW the only way it would be possible would be in the single beam active sonar mode on the FFG7, and it would take some experimenting in math to do it.
But again there's really no use for it at all, just detect what side of the layer your contact is on and fire your torpedo on that side. Even if he crosses it, the torpedo will probably find him when it gets close enough. If you worry then launch torps on both sides.
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