The ASCE Committee Report, "Pressure Pipeline Design for Water and Wastewater" (1992, and of course pre-9/11) includes the statement, "Depth of bury of pipelines is a function of the probability of line protection from construction damage, surface of line protection from construction damage, surface live loads, freezing and rupture, scour depth at river crossings and occasionally, pipeline grades." As I believe only one of these factors can arguably/clearly be related e.g. to geographical climate etc. vulnerability factors, and for that matter pipelines in many areas may also even need to come in or out of the ground at some locations, perhaps absolute/literal "minimum depth of cover" from a practical matter is somewhat of misnomer and a reliable regional or state "map" of same might be some hard to find?
That being said, I think many utilities, perhaps based on practice or experience, do in general like to get most extants of their uninsulated pipelines at least down assuredly below the "frost line", and I believe you can probably confirm this by looking at/pulling up some local city utility specs e.g. online and compare these to geographical frost depth maps (similar to a topo map) with a good search engine or other references. I think frozen and other expansive soil conditions, as well as surface loads and impacts, can exert great forces on pipelines, and pipe strength, damage resistance and ductility may be particularly important for these and perhaps other reasons when piplines must be buried more shallow than normal.