i' not so sure...
i've set up my ai_sensors file so that at silent running, i'm impossible to hear unless the escort is w/in a couple of hundred yards. nevertheless, i can start getting pinged when the escort is 1400-1500m away. of course, that doesn't mean the ai isn't cheating...
w/ respect to the ai getting the depth automatically -- maybe. but also consider the possibility that the info it gets from hydrophones isn't limited to bearing only (as irl) but gets bearing, elevation, and range -- allowing it to pinpoint your position in 3d space.
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