To me, hearing is a constant subconscious happening, it is the brain receiving signals whereas listening is a conscious decision to attempt to give your attention to a sound and to let your thoughts all be surrounding a particular source of sound. Listening encompasses hearing however is more focused and delicate.
Every day I am constantly hearing, I am rarely listening in comparison. In a day I will usually only listen to the sounds of transport, voices and any sound that sticks out to me as interesting however I will hear the noise around me everywhere I go.
To me there is a space between listening and hearing where I catch myself getting wrapped up in my own thoughts partially as I half-listen to sound, the attention you pay to a sound cannot be measured, I am unsure on when hearing becomes listening and listening becomes hearing. I do think you can do both simultaneously for example whenever you listen to something you can always hear background sounds however I tend to slip between the two sometimes, to me this is ‘bad’ listening, I aim to develop my listening skills to a point where I can completely focus on a sound.