Techniques for sonar data processing

A method for recording sonar data measured, the method comprising:

• transmitting, by a sonar system having a beamformer, the beamformer configured with one or more parameters, a plurality of sonar ping into a volume of sonar signal transmitting material;
• receiving, by the sonar system, a plurality of signals from one or more objects in the volume of sonar signal transmitting material responsive to a first sonar ping of the plurality of sonar pings;
• beamforming, by the sonar system, the plurality of signals under the one or more parameters to generate a first three-dimensional (3D) beamformed sonar data set for the first sonar ping, the first sonar data set describing the one or more objects;
• changing, by the sonar system, at least one of the one or more parameters;
• and
• beamforming, by the sonar system and prior to receiving a plurality of second signals responsive to a second sonar ping of the plurality of sonar pings, the plurality of signals under the changed at least one of the one or more parameters to generate a second 3D beamformed sonar data set for the first sonar ping, the second 3D sonar data set describing the one or more objects, the second 3D beamformed sonar data set being different from the first 3D beamformed data set.