Your plots do not resemble a target that is weaving. The sonar is just very uncertain about the real range to the target. Look at the variability of the returns you got. The largest and smallest returns are roughly 2k/3k yards apart most of the times. Perhaps you could have plotted the max and min ranges each time. And connect them with a short line. (similar to a stockmarket high-low barchart) Over time that would narrow the possible courses down, as the track needs to fit through all of them. Just plotting the average makes you think the plot is more accurate than it realy is.
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