If an altimeter does not suit your needs, you might try an eye level. In some areas I have heard it called a hand level. It probably has an "official" name that I have not heard. Considering your experience, you may already know about this tool. We used it to mark rough grade on heavy/highway construction projects. It is not a precision surveying tool, but we used it to build ditches, slopes, and other areas for water runoff.
It resembles a handheld rifle scope with a level bubble on it. The bubble (and hash marks) are reflected through a prism into the line of sight of the scope, so you know when you are holding the instrument level.
You need two measuring sticks. We used a stake driven into the ground for our reference stake, but you could also use a tripod or 3 sticks tied together for rocky ground. I used an old shovel handle for my grade stick, on which I marked feet and tenths of feet.
Your reference stake is driven at your last "correct" grade. I usually tied a ribbon about 3 feet above grade, mostly so I wouldn"t have to bend over so far. You hold your grade stick at your next spot. Sight through your level, and slide up or down your grade stick until you are lined up through your sight line with the ribbon on your reference stake. Subtract 3 feet from the resulting height of your level on the grade stick to get back to original grade. A positive number remaining is your elevation difference below your reference point, a negative number is higher.
I have found these tools to sight out no further than 20 feet or so. Considering your description of your project, this might work. It would be a bit tedious over the length you described, but the setup time at each point is very quick, and you could work your way up or down your pipe, depending on your preference.
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