Post process sonar view log files and mosaic

Hi , as seen in the attached image, there are lot of overlaps and distortions in sonar view realtime mosaic .
Is there a postprocess software which can help us remove distortions and edit mosaic representation using log files . Aslo is there a way to export raw data to filter it our self using scripts like python etc? I am not sure if anyone has done it before and a sample code is availabe.
image

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