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Secondly, on that note: alloy coat subs can help if they are small, do not use wireless on subs (nearly all campaign ships have snoopers), fuel engines vent below hull, don't use too many shields, etc. :D (heat sig, lots of ships especially the bigger ones in the game have IR detection then they lock you with laser trackers lol... ) Radar detection does work underwater to some extent, just shorter range depending on your depth/size etc -- though if YOU are underwater the devices disable themselves.
If you build a periscope type thing, make it alloy and angled like a diamond or it'll be enough for radar to lock you in many cases. You shouldn't need it though, torpedos are self-guiding with sonar and should lock something even if you fire it blind.
You still want to do it, even in that case, for speed. A 20 foot long mast is a pretty significant surface area - if it was all beams or poles I'm sure it'd shave a bunch of m/s off.
Depends, it probably doesn't matter if it's "always up". :D
I'd still avoid it, you go from "perfect stealth" to "maybe stealth" and if you need more detection than a buoy the drone is still the best way. You can have a couple hundred resource speed drone doing all the detection and never risk the "really damn expensive" for its size sub. (Due to missile costs being INSANE.) Just due to the nature of how subs work in the game, they're going to be lightly armored if they're good. (AKA fast)
Unfortunately, I don't know if the telescopic pistons count as "metal" "alloy" or "nothing". I never use them because no matter what depth I am at it's somewhat random. (Usually sea skimming, but sometimes the sea floor is 30, sometimes it's 300, lol) The length of the telescopic piston is too short for serious subs anyway, if you ask me.
Also if your enemy is using a hitscan weapon like lasers they can easily toast your drone in seconds leaving your submarines totally blind. Not to mention that the AI mainframe alone is 400 resorce and GP processing cards are 200 a pop such a drone will probably be atleast 3-4k minimum, way more than the cost of a buoy launcher which would probably be around 2k.
Then I use radar bouys. They don't have to be anything fancy, just bouy, bouyancy tanks and regulators so they hang around for longer. Add a couple of detectors and they'll find their way to the surface pretty fast. Adding propulsion to those means they'll try and act as missiles/torps and potentially kamikazi for no real gain. I tend to use medium launchers because they persist for longer before self-destructing.
Then if my sub has guns, I tend to add regular sensors to those simply so I can surface and pound pesky shore installations if I chose to. Underwater, they're generally pretty accurate as long as there's a few surviving radar bouys.
As for IR, that doesnt really work underwater given water's a very good IR absorber.