I'm in the habit now of immediately shadowing any lone ship I torpedo, just to make sure I stay in contact at the moment of sinking. Too many grey icons otherwise. My preferred torp shot for routine small kills - a single hit on the nose of the ship - makes this worse, because I'm relying on the ship to essentially sink herself by gunning it into the oncoming seas and self-flooding.
The problem seems to be worse when using the stern tubes, because the hydrophone loses contact when the target passes directly astern. So as soon as I shoot, I flip the boat around and reacquire via hydrophone, then follow the target until it sinks.
I just chalk it up to the fog of war.
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