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For SP, you'll want to set them in the line of fire of your bots controlling the guns as their target acquisition is quite good (Because they're AI, except when there's too many infront of them then they'll freak out). Then just maneuver your ship in the opposite direction they're coming from and hope you have enough time/space.
I figured I would have to have an NPC on guns beforehand in case something like this happened, but I only had a mechanic and an engineer and I didn't wanna use them up when they could be doing something else on the sub.
The issue is the armour. 90% damage reduction, 100% bleeding reduction. Without armour-penetration or a chance to sever, you'll have a Fun™ time. Some mudraptors are unarmoured, those are much easier to kill.
Normal knives have no penetration, and can't (? or at least can't reliably) sever limbs.
Hardened knives have 25% armour penetration. 67.5% damage reduction from the armour. Dual hardened knives have nearly the DPS against 90% armour that a single diving knife has against an unarmoured target. Hardened crowbars will work fine too, andpossibly hardened wrenches/screwdrivers, with talents to buff damage for them.
The boarding axe is the most famous weapon when it comes to the other approach. High severance chance, enough damage in one strike to exceed minseverancedamage. Can onehit a mudraptor by beheading it, if you time it right. If not you'll still strip armour.
Harpoons have the same issue as knives. But the mudraptor isn't fully covered in armour, and you may be able to aim at a weakspot (belly? Legs? either way, lower half of it) to bypass the armour. And harpoons are recoverable, so pretty cheap to use.
Revolvers have 10% penetration (with normal ammo). Turns 90% armour into 81% armour. Good enough, but costly to use (even vs unarmoured targets). At least the DPS is good if dual-wielding.
Also, don't be afraid to order a mechanic or engineer to use the turrets, the class labels are very loose and the big difference about them are the talents, they will just have less weapons skill which makes them slower at aiming the turrets.
I was afraid if I had my crew on turrets, there wouldn't be anyone to repair hull damage. In hindsight, I probably should've prioritized eliminating the threat over damage control.