Here's the magic line to add to /etc/network/interfaces, to connect to hidden network:
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wpa-scan-ssid 1
And one more tip that I wish I had found sooner: if you need wireless/wired networks to come up on particular interface names (wlan0, eth0, etc), you can write udev rules to hard-wire device names to the mac address of the interface. (Otherwise, your wireless might come up on wlan1 when you were expecting wlan0, etc.) For my use, I need the RPi to switch between wired and wireless networks fairly frequently via cron scripts (thus I cleverly named them "wired" and "wireless"). So one udev rule looks like so:
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KERNEL=="eth*", ATTR{address}=="b8:01:31:27:e2:4a", NAME="wired"
waldo