Well they dont "see" you with the hydrophones they hear you. Keep quiet and present a low aspect to the 'looker'.
The first thing to do is to not let them know your there untill the torpedoes start exploding.
Use low speed around 2 or 3 knots when submerged and only pop up the scope for either a quick look around or the actual attack.
Learn to use your sonar to work into position and rise to periscope depth only when ready to attack.
Radar... Do you have one installed ? Just because you see a scope doesent mean you have a radar installed. Some boats cannot accomodate radar at all.
Also currently the radar (if you have one) only works when your ship is facing southward. Its a bug to be fixed in the upcomming patch.
Circles... when a unit is selected on the map a series of concentric circles appear.
The outermost circle is there 'line of sight' if you are within this circle you have a chance of being spotted. The second inner circle is a rough repenstation of the ships ... uhh... line of listening ? If you look you will see a triangle from the stern of the ship. The sonar is more or less deaf in that triangle, they can hear just fine everywhere else.
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