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You can just brute force it and try every passage till you get where you need to be. There's not that many of them really, but you also CAN use the map. It's not useless. It's just less convenient than the outside map. The one outside doesn't track the depth, and there are times where there's no map at all, so it's just levels of inconvenience.
The lower part of that map is accurate if you're facing down at the entrace, you only go around a few bends before you're out and dealing with the leech swarms or whatever they are.