Actually, I've had the reverse, for the most part... Visual checks seem to be ok. When I do get spotted, considering the circumstances (weather, type of ship spotting me, etc.), it makes sense.
When I'm submerged... well... early war (haven't gotten to a mid/late career yet), sneaking off while submerged seems to be pretty easy, with one notable exception in my career. Most of the time, I can dive below the thermal layer, keep it at 100 RPM or lower, orientate myself so I'm not presenting abeam, and I'm fine.
I did have a destroyer and subchaser once that I just couldn't shake... but I probably gave up early due to frustration, and not keeping my speed up.
*helpless shrug*
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