I haven't seen a video on this, but there's only two main points, with a bunch of finer points.
Low and Slow.
Go deep. I used to go to 200-250m. The crew starts yelling at you, but you can ignore them, for a bit. On my first patrol with a new boat, I would always test dive to 200m, then slowly dive 10m at a time more until I started taking damage. Then I knew how deep I could push my boat.
Go Slow. Manually click the rpm gauge to it's lowest setting (45 rpm comes to mind, I know I'm wrong on this). You'll only be moving about 1 kt, enough to maintain control and depth. The boats won't hear you.
If they start a charge run, you can sprint away from them until the charges stop, then return to dead slow.
Course, it's been a while since I played, but that usually worked for me.
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Luck is a residue of Design.
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