Hey Ug, can you let us know what you are running at your interpolation at? from what you posted, it seems that you are mapping at a really small area. The general rule of recording is you can not have too much data. the more you cover, or record, the more detail you will have in your map.
Also keep in mind, if you recorded a sonar log with 30ft interpolation you will only have detail to that level. From your post it seems you are looking for more detail so, to me, you need to record a track right over the waypoint to fill it in even though your tracks are less than 30ft apart.
hope this helps bud.