The maps do show you depth, by colour. Dark blue is deep (deeper than you can go) and pale blue/green/yellowish colours are progressively more shallow. I pinged the ocean floor in a few different areas to get a feel for how deep each colour is - maybe you could do that. Obviously that method is prone to mistakes so if you want to, just ping! I've not noticed warships attacking me for pinging, and I read on here that it has no effect on them, so if you want to, just go ahead and ping. I prefer not to ping until after I've been spotted, for the sake of realism, but that's just me.
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