Methods for generating boreholes used for generating geothermal energy or other purposes include forming the borehole by accelerating a projectile into contact with geologic material. Interaction between the projectile and the geologic material generates an acoustic signal, such as vibrations within the formation, that is detected using acoustic sensors along a drilling conduit, at the surface, or within a separate borehole. Characteristics of the geologic material, such as hardness, porosity, or the presence of fractures, may be determined based on characteristics of the acoustic signal. The direction in which the borehole is extended may be modified based on the characteristics of the geologic material, such as to create a borehole that intersects one or more fractures for generation of geothermal energy.