I'm not sure how to "pull" that info from the game engine. One option is to build a mission using the mission editor (so there are no enemy units to worry about) and sail your sub to various spots in the harbor, use the depth finder for depth under the keel, and add to your sub's depth. This would obviously take a considerable time commitment, although if you could get a group of volunteers to each take some harbors it might be reasonable.
The other question is how to add the data to the map. I know there are modders out there who have added labels to various straits and islands - I'm sure it's the same process.
If you decide to "take the lead" on volunteers to take soundings, you can count me in.
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