diff --git a/pipeline/run_pipeline.sh b/pipeline/run_pipeline.sh
new file mode 100755
index 0000000..ccf9ed6
--- /dev/null
+++ b/pipeline/run_pipeline.sh
@@ -0,0 +1,53 @@
+#!/usr/bin/env bash
+# Run full pipeline for a mission: stages 02→03→04→05
+# Usage: ./run_pipeline.sh <mission> [worker]
+# Example: ./run_pipeline.sh 20260505-Lepradet auto
+
+set -euo pipefail
+
+MISSION=${1:-20260505-Lepradet}
+WORKER=${2:-auto}
+MANIFEST="/home/cosma/cosma-pipeline/${MISSION}/manifest.json"
+PIPELINE_DIR="$(cd "$(dirname "$0")" && pwd)/stages"
+PIPELINE_BASE="/home/cosma/cosma-pipeline"
+NAV_DIR="${PIPELINE_BASE}/data/${MISSION}/nav"
+NAV_FILT_DIR="${PIPELINE_BASE}/data/${MISSION}/nav_filtered"
+FRAMES_DIR="${PIPELINE_BASE}/data/${MISSION}/frames"
+
+RUN_ID="$(date +%Y%m%d_%H%M%S)"
+RUN_LOG_DIR="${PIPELINE_BASE}/runs/${RUN_ID}"
+mkdir -p "${RUN_LOG_DIR}"
+
+echo "=== Pipeline run ${RUN_ID} mission=${MISSION} worker=${WORKER} ===" | tee "${RUN_LOG_DIR}/run.log"
+echo "Start: $(date -u +%Y-%m-%dT%H:%M:%SZ)" | tee -a "${RUN_LOG_DIR}/run.log"
+
+# Stage 02: nav parse
+echo "" | tee -a "${RUN_LOG_DIR}/run.log"
+echo "--- Stage 02: nav parse ---" | tee -a "${RUN_LOG_DIR}/run.log"
+python3 "${PIPELINE_DIR}/02_nav_parse.py" "${MANIFEST}" \
+    2>&1 | tee -a "${RUN_LOG_DIR}/stage02.log" "${RUN_LOG_DIR}/run.log"
+
+# Stage 03: nav filter
+echo "" | tee -a "${RUN_LOG_DIR}/run.log"
+echo "--- Stage 03: nav filter ---" | tee -a "${RUN_LOG_DIR}/run.log"
+python3 "${PIPELINE_DIR}/03_nav_filter.py" "${NAV_DIR}" \
+    2>&1 | tee -a "${RUN_LOG_DIR}/stage03.log" "${RUN_LOG_DIR}/run.log"
+
+# Stage 04: frame extract
+echo "" | tee -a "${RUN_LOG_DIR}/run.log"
+echo "--- Stage 04: frame extract ---" | tee -a "${RUN_LOG_DIR}/run.log"
+python3 "${PIPELINE_DIR}/04_frame_extract.py" --mission "${MISSION}" \
+    2>&1 | tee -a "${RUN_LOG_DIR}/stage04.log" "${RUN_LOG_DIR}/run.log"
+
+# Stage 05: inference (sequential, one segment at a time)
+echo "" | tee -a "${RUN_LOG_DIR}/run.log"
+echo "--- Stage 05: inference ---" | tee -a "${RUN_LOG_DIR}/run.log"
+python3 "${PIPELINE_DIR}/05_inference.py" \
+    --frames-dir "${FRAMES_DIR}" \
+    --worker "${WORKER}" \
+    --mission "${MISSION}" \
+    2>&1 | tee -a "${RUN_LOG_DIR}/stage05.log" "${RUN_LOG_DIR}/run.log"
+
+echo "" | tee -a "${RUN_LOG_DIR}/run.log"
+echo "=== Pipeline DONE $(date -u +%Y-%m-%dT%H:%M:%SZ) ===" | tee -a "${RUN_LOG_DIR}/run.log"
+echo "Logs: ${RUN_LOG_DIR}/"
diff --git a/pipeline/stages/02_nav_parse.py b/pipeline/stages/02_nav_parse.py
new file mode 100644
index 0000000..e79dc0d
--- /dev/null
+++ b/pipeline/stages/02_nav_parse.py
@@ -0,0 +1,272 @@
+#!/usr/bin/env python3
+"""Stage 02 — Parse navigation from ROS2 MCAP bag files.
+
+Extracts per-AUV trajectories from MCAP bags using mcap_ros2:
+- /mavros/global_position/global  → NavSatFix (lat, lon, alt)
+- /mavros/imu/data               → Imu (qx, qy, qz, qw)
+- /mavros/imu/static_pressure    → FluidPressure (pressure_pa)
+
+Joins on nearest timestamp (tolerance 100ms).
+Saves parquet: ~/cosma-pipeline/data/<mission>/nav/<AUV>_<segment>.parquet
+
+Fallback: if no MCAP GPS data, marks as degraded=True (GPS=0 under water is normal).
+
+Usage:
+    python3 02_nav_parse.py /home/cosma/cosma-pipeline/20260505-Lepradet/manifest.json
+    python3 02_nav_parse.py /path/manifest.json --auv AUV013
+"""
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import sys
+from pathlib import Path
+
+import numpy as np
+
+sys.path.insert(0, str(Path(__file__).parent.parent))
+from orchestrator.db import init_db, get_conn, upsert_job, record_metric, now_iso
+
+PIPELINE_BASE = Path(os.environ.get("COSMA_PIPELINE_BASE", "/home/cosma/cosma-pipeline"))
+NAV_TOPICS = [
+    "/mavros/global_position/global",
+    "/mavros/imu/data",
+    "/mavros/imu/static_pressure",
+]
+
+
+def parse_mcap_segment(mcap_files: list[Path]) -> dict[str, list]:
+    """Extract raw topic data from a list of MCAP files (one session/segment).
+    Returns dict keyed by topic -> list of (ts_ns, data_dict).
+    """
+    from mcap_ros2.reader import read_ros2_messages
+
+    topic_data: dict[str, list] = {t: [] for t in NAV_TOPICS}
+
+    for mcap_path in mcap_files:
+        if not mcap_path.exists():
+            continue
+        try:
+            for msg in read_ros2_messages(str(mcap_path), topics=NAV_TOPICS):
+                topic = msg.channel.topic
+                m = msg.ros_msg
+                ts_ns = int(msg.log_time.timestamp() * 1e9)
+
+                if topic == "/mavros/global_position/global":
+                    topic_data[topic].append((ts_ns, {
+                        "lat": float(m.latitude),
+                        "lon": float(m.longitude),
+                        "alt": float(m.altitude),
+                    }))
+                elif topic == "/mavros/imu/data":
+                    topic_data[topic].append((ts_ns, {
+                        "qx": float(m.orientation.x),
+                        "qy": float(m.orientation.y),
+                        "qz": float(m.orientation.z),
+                        "qw": float(m.orientation.w),
+                    }))
+                elif topic == "/mavros/imu/static_pressure":
+                    topic_data[topic].append((ts_ns, {
+                        "pressure_pa": float(m.fluid_pressure),
+                    }))
+        except Exception as e:
+            print(f"  [02] Error reading {mcap_path.name}: {e}")
+
+    return topic_data
+
+
+def join_topics(topic_data: dict[str, list], tol_ns: int = 100_000_000) -> list[dict]:
+    """Join NavSatFix + Imu + FluidPressure on nearest timestamp (100ms tol).
+    Base timeline = NavSatFix if available, else Imu.
+    """
+    import pandas as pd
+
+    nav_pts = topic_data.get("/mavros/global_position/global", [])
+    imu_pts = topic_data.get("/mavros/imu/data", [])
+    pres_pts = topic_data.get("/mavros/imu/static_pressure", [])
+
+    if not nav_pts and not imu_pts:
+        return []
+
+    # Build DataFrames
+    if nav_pts:
+        df_nav = pd.DataFrame([{"ts_ns": ts, **d} for ts, d in nav_pts])
+    else:
+        df_nav = pd.DataFrame(columns=["ts_ns", "lat", "lon", "alt"])
+
+    if imu_pts:
+        df_imu = pd.DataFrame([{"ts_ns": ts, **d} for ts, d in imu_pts])
+    else:
+        df_imu = pd.DataFrame(columns=["ts_ns", "qx", "qy", "qz", "qw"])
+
+    if pres_pts:
+        df_pres = pd.DataFrame([{"ts_ns": ts, **d} for ts, d in pres_pts])
+    else:
+        df_pres = pd.DataFrame(columns=["ts_ns", "pressure_pa"])
+
+    # Use nav as base if it has data, else imu
+    base_df = df_nav if len(df_nav) > 0 else df_imu
+    base_df = base_df.sort_values("ts_ns").reset_index(drop=True)
+
+    # Merge-as-of for IMU
+    result = base_df.copy()
+    if len(df_imu) > 0:
+        df_imu_s = df_imu.sort_values("ts_ns").reset_index(drop=True)
+        # Simple nearest-neighbor join
+        imu_ts = df_imu_s["ts_ns"].values
+        for col in ["qx", "qy", "qz", "qw"]:
+            result[col] = np.nan
+        for i, row_ts in enumerate(result["ts_ns"].values):
+            idx = np.argmin(np.abs(imu_ts - row_ts))
+            if abs(imu_ts[idx] - row_ts) <= tol_ns:
+                for col in ["qx", "qy", "qz", "qw"]:
+                    result.at[i, col] = float(df_imu_s.at[idx, col])
+
+    # Merge pressure
+    if len(df_pres) > 0:
+        df_pres_s = df_pres.sort_values("ts_ns").reset_index(drop=True)
+        pres_ts = df_pres_s["ts_ns"].values
+        result["pressure_pa"] = np.nan
+        for i, row_ts in enumerate(result["ts_ns"].values):
+            idx = np.argmin(np.abs(pres_ts - row_ts))
+            if abs(pres_ts[idx] - row_ts) <= tol_ns:
+                result.at[i, "pressure_pa"] = float(df_pres_s.at[idx, "pressure_pa"])
+
+    # Ensure all columns exist
+    for col in ["lat", "lon", "alt", "qx", "qy", "qz", "qw", "pressure_pa"]:
+        if col not in result.columns:
+            result[col] = np.nan
+
+    return result.to_dict("records")
+
+
+def parse_auv(manifest: dict, auv_id: str, out_dir: Path) -> dict:
+    """Parse all MCAP sessions for one AUV. Returns metrics."""
+    from pathlib import Path as P
+
+    metrics = {
+        "auv_id": auv_id,
+        "segments": [],
+        "total_points": 0,
+        "degraded": False,
+        "status": "ok",
+    }
+
+    bag_sessions = manifest.get("bag_sessions_per_auv", {}).get(auv_id, [])
+    if not bag_sessions:
+        auv_map = manifest.get("auv_mapping", {})
+        bag_auv = auv_map.get(auv_id)
+        if bag_auv:
+            bag_sessions = manifest.get("bag_sessions_per_auv", {}).get(bag_auv, [])
+
+    if not bag_sessions:
+        # Build from raw SSD structure
+        ssd_path = P(manifest.get("ssd_path", "/mnt/ssd") + "/" + manifest["mission"].split("-")[0] + "-" + manifest["mission"].split("-")[1] if "-" in manifest["mission"] else manifest.get("ssd_path", "/mnt/ssd"))
+        auv_num = auv_id.replace("AUV", "0")  # AUV013 -> 0013? No: AUV013 -> AUV013
+        bag_root = P(manifest.get("ssd_path", "/mnt/ssd")) / "raw_data/logs/SUB/bag"
+        sessions = sorted(bag_root.glob(f"*_{auv_id}"))
+        bag_sessions = [{"label": s.name, "mcap_files": [str(f) for f in sorted(s.glob("*.mcap"))]} for s in sessions]
+
+    import pandas as pd
+
+    all_points_total = 0
+    for sess in bag_sessions:
+        label = sess.get("session", sess.get("label", "unknown"))
+        mcap_files = [P(f) for f in sess.get("mcap_files", [])]
+        if not mcap_files:
+            continue
+
+        out_parquet = out_dir / f"{auv_id}_{label}.parquet"
+        if out_parquet.exists():
+            df_ex = pd.read_parquet(out_parquet)
+            n = len(df_ex)
+            print(f"  [02] {auv_id}/{label}: cached ({n} pts)")
+            all_points_total += n
+            metrics["segments"].append({"label": label, "points": n, "cached": True})
+            continue
+
+        print(f"  [02] {auv_id}/{label}: parsing {len(mcap_files)} MCAP files...")
+        topic_data = parse_mcap_segment(mcap_files)
+        points = join_topics(topic_data)
+
+        if not points:
+            print(f"  [02] {auv_id}/{label}: no data")
+            metrics["segments"].append({"label": label, "points": 0, "degraded": True})
+            metrics["degraded"] = True
+            continue
+
+        df = pd.DataFrame(points)
+        n = len(df)
+        # Check GPS quality
+        has_gps = df["lat"].notna().any() and (df["lat"] != 0).any()
+        if not has_gps:
+            print(f"  [02] {auv_id}/{label}: {n} pts, GPS=0 (degraded — AUV underwater)")
+            metrics["degraded"] = True
+        else:
+            print(f"  [02] {auv_id}/{label}: {n} pts, GPS OK")
+
+        df.to_parquet(out_parquet, index=False)
+        all_points_total += n
+        metrics["segments"].append({"label": label, "points": n, "degraded": not has_gps})
+
+    metrics["total_points"] = all_points_total
+    if all_points_total == 0:
+        metrics["status"] = "degraded"
+    return metrics
+
+
+def parse_mission(manifest_path: Path, auv_filter: str | None = None) -> list[dict]:
+    manifest = json.loads(manifest_path.read_text())
+    mission_name = manifest["mission"]
+
+    out_dir = PIPELINE_BASE / "data" / mission_name / "nav"
+    out_dir.mkdir(parents=True, exist_ok=True)
+
+    auv_ids = list(set(
+        manifest.get("auv_ids_bags", []) +
+        list(manifest.get("auv_mapping", {}).keys())
+    ))
+    if not auv_ids:
+        auv_ids = manifest.get("auv_ids_video", [])
+    if auv_filter:
+        auv_ids = [a for a in auv_ids if a == auv_filter]
+
+    all_metrics = []
+    init_db()
+
+    for auv_id in sorted(auv_ids):
+        print(f"[02] === {auv_id} ===")
+        m = parse_auv(manifest, auv_id, out_dir)
+        all_metrics.append(m)
+
+        with get_conn() as conn:
+            mission_row = conn.execute("SELECT id FROM missions WHERE name=?", (mission_name,)).fetchone()
+            if mission_row:
+                job_id = upsert_job(conn, mission_row["id"], auv_id, "all", "02_nav_parse",
+                                    status="done" if m["status"] == "ok" else m["status"],
+                                    output_path=str(out_dir))
+                record_metric(conn, job_id, "nav_points_total", value=m["total_points"],
+                              pass_fail="pass" if m["total_points"] > 0 else "warn")
+
+    return all_metrics
+
+
+def main():
+    ap = argparse.ArgumentParser(description="Stage 02 — Parse nav from MCAP bags")
+    ap.add_argument("manifest", type=Path)
+    ap.add_argument("--auv", type=str, default=None)
+    args = ap.parse_args()
+
+    metrics = parse_mission(args.manifest, auv_filter=args.auv)
+
+    print("\n=== Stage 02 summary ===")
+    for m in metrics:
+        segs = m.get("segments", [])
+        total = m.get("total_points", 0)
+        deg = "DEGRADED" if m.get("degraded") else "OK"
+        print(f"  {m['auv_id']}: {total} pts across {len(segs)} segments [{deg}]")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/pipeline/stages/03_nav_filter.py b/pipeline/stages/03_nav_filter.py
new file mode 100644
index 0000000..04b0906
--- /dev/null
+++ b/pipeline/stages/03_nav_filter.py
@@ -0,0 +1,185 @@
+#!/usr/bin/env python3
+"""Stage 03 — Filter and smooth navigation trajectories.
+
+Input:  ~/cosma-pipeline/data/<mission>/nav/<AUV>_<segment>.parquet
+Output: ~/cosma-pipeline/data/<mission>/nav_filtered/<AUV>_<segment>.parquet
+
+Steps:
+1. Drop rows with null lat/lon OR lat==0 AND lon==0 (no GPS lock)
+2. MAD-3σ outlier removal on lat, lon
+3. Moving average smoothing (window 5s, KISS)
+4. Depth from pressure: depth_m = (pressure_pa - 101325) / (1025 * 9.81)
+5. Output: same columns + lat_smooth, lon_smooth, depth_m
+
+Usage:
+    python3 03_nav_filter.py /home/cosma/cosma-pipeline/data/20260505-Lepradet/nav/
+    python3 03_nav_filter.py /path/nav/ --auv AUV013 --sigma 2.5
+"""
+from __future__ import annotations
+
+import argparse
+import os
+import sys
+from pathlib import Path
+
+import numpy as np
+
+sys.path.insert(0, str(Path(__file__).parent.parent))
+from orchestrator.db import init_db, get_conn, upsert_job, record_metric, now_iso
+
+PIPELINE_BASE = Path(os.environ.get("COSMA_PIPELINE_BASE", "/home/cosma/cosma-pipeline"))
+RHO_SEA = 1025.0  # kg/m3
+G = 9.81          # m/s2
+P_ATM = 101325.0  # Pa
+
+
+def mad_mask(arr: np.ndarray, sigma: float = 3.0) -> np.ndarray:
+    """True = keep."""
+    if len(arr) < 4:
+        return np.ones(len(arr), dtype=bool)
+    med = np.median(arr)
+    mad = np.median(np.abs(arr - med))
+    if mad == 0:
+        return np.ones(len(arr), dtype=bool)
+    return np.abs(0.6745 * (arr - med) / mad) < sigma
+
+
+def moving_average(arr: np.ndarray, window: int = 5) -> np.ndarray:
+    if len(arr) < window:
+        return arr.copy()
+    pad = window // 2
+    padded = np.pad(arr, (pad, pad), mode="edge")
+    return np.convolve(padded, np.ones(window) / window, mode="valid")[:len(arr)]
+
+
+def filter_parquet(src: Path, dst_dir: Path, sigma: float = 3.0, window: int = 5) -> dict:
+    import pandas as pd
+
+    df = pd.read_parquet(src)
+    auv_seg = src.stem
+    metrics = {
+        "file": src.name,
+        "points_in": len(df),
+        "points_out": 0,
+        "status": "ok",
+    }
+
+    # Step 1: drop null/zero GPS
+    has_lat = "lat" in df.columns and df["lat"].notna().any()
+    if has_lat:
+        mask_valid = df["lat"].notna() & df["lon"].notna() & (df["lat"] != 0) & (df["lon"] != 0)
+        df_valid = df[mask_valid].copy()
+    else:
+        # No GPS — keep all rows for IMU/pressure
+        df_valid = df.copy()
+        metrics["degraded"] = True
+
+    if len(df_valid) == 0:
+        metrics["status"] = "degraded"
+        metrics["note"] = "no valid GPS points"
+        print(f"  [03] {auv_seg}: no valid GPS — saving as-is with depth calc only")
+        df_out = df.copy()
+    else:
+        # Step 2: MAD outlier removal on lat/lon
+        if has_lat and len(df_valid) >= 4:
+            lats = df_valid["lat"].values
+            lons = df_valid["lon"].values
+            mask = mad_mask(lats, sigma) & mad_mask(lons, sigma)
+            n_removed = int((~mask).sum())
+            df_valid = df_valid[mask].copy()
+            metrics["points_removed_outlier"] = n_removed
+        else:
+            metrics["points_removed_outlier"] = 0
+
+        # Step 3: sort by timestamp
+        if "ts_ns" in df_valid.columns:
+            df_valid = df_valid.sort_values("ts_ns").reset_index(drop=True)
+
+        # Step 4: smooth lat/lon
+        if has_lat and len(df_valid) >= window:
+            df_valid["lat_smooth"] = moving_average(df_valid["lat"].values, window)
+            df_valid["lon_smooth"] = moving_average(df_valid["lon"].values, window)
+        elif has_lat and len(df_valid) > 0:
+            df_valid["lat_smooth"] = df_valid["lat"]
+            df_valid["lon_smooth"] = df_valid["lon"]
+        else:
+            df_valid["lat_smooth"] = np.nan
+            df_valid["lon_smooth"] = np.nan
+
+        df_out = df_valid
+
+    # Step 5: depth from pressure
+    if "pressure_pa" in df_out.columns and df_out["pressure_pa"].notna().any():
+        df_out["depth_m"] = (df_out["pressure_pa"] - P_ATM) / (RHO_SEA * G)
+        df_out["depth_m"] = df_out["depth_m"].abs()  # negative when underwater (P < Patm)  # surface = 0
+    else:
+        df_out["depth_m"] = np.nan
+
+    dst_dir.mkdir(parents=True, exist_ok=True)
+    out_path = dst_dir / src.name
+    df_out.to_parquet(out_path, index=False)
+
+    metrics["points_out"] = len(df_out)
+    removed_null = metrics["points_in"] - len(df_out) - metrics.get("points_removed_outlier", 0)
+    metrics["points_removed_null"] = max(0, removed_null)
+    print(f"  [03] {auv_seg}: {metrics['points_in']} → {metrics['points_out']} pts, "
+          f"depth_m range=[{df_out['depth_m'].min():.1f}, {df_out['depth_m'].max():.1f}]"
+          if df_out["depth_m"].notna().any() else
+          f"  [03] {auv_seg}: {metrics['points_in']} → {metrics['points_out']} pts, no pressure")
+    return metrics
+
+
+def filter_mission(nav_dir: Path, auv_filter: str | None = None,
+                   sigma: float = 3.0, window: int = 5) -> list[dict]:
+    out_dir = nav_dir.parent / "nav_filtered"
+
+    parquet_files = sorted(nav_dir.glob("*.parquet"))
+    if auv_filter:
+        parquet_files = [f for f in parquet_files if auv_filter in f.name]
+
+    all_metrics = []
+    init_db()
+
+    for pf in parquet_files:
+        out_file = out_dir / pf.name
+        if out_file.exists():
+            print(f"[03] {pf.stem}: cached")
+            continue
+
+        print(f"[03] Filtering {pf.name}...")
+        m = filter_parquet(pf, out_dir, sigma=sigma, window=window)
+        all_metrics.append(m)
+
+        with get_conn() as conn:
+            mission_name = nav_dir.parent.name
+            mission_row = conn.execute("SELECT id FROM missions WHERE name=?", (mission_name,)).fetchone()
+            if mission_row:
+                auv_id = pf.stem.split("_")[0]
+                job_id = upsert_job(conn, mission_row["id"], auv_id, "all", "03_nav_filter",
+                                    status="done" if m.get("status") == "ok" else m.get("status", "done"),
+                                    output_path=str(out_dir))
+                record_metric(conn, job_id, "nav_points_filtered", value=m.get("points_out", 0),
+                              pass_fail="pass" if m.get("points_out", 0) > 0 else "warn")
+
+    return all_metrics
+
+
+def main():
+    ap = argparse.ArgumentParser(description="Stage 03 — Filter nav trajectories")
+    ap.add_argument("nav_dir", type=Path, help="Directory with *.parquet from stage 02")
+    ap.add_argument("--auv", type=str, default=None)
+    ap.add_argument("--sigma", type=float, default=3.0)
+    ap.add_argument("--window", type=int, default=5)
+    args = ap.parse_args()
+
+    metrics = filter_mission(args.nav_dir, auv_filter=args.auv,
+                             sigma=args.sigma, window=args.window)
+
+    print("\n=== Stage 03 summary ===")
+    for m in metrics:
+        print(f"  {m.get('file','?')}: {m.get('points_in',0)} → {m.get('points_out',0)} "
+              f"[{m.get('status','?')}]")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/pipeline/stages/04b_trim_water.py b/pipeline/stages/04b_trim_water.py
new file mode 100644
index 0000000..ebdb6d3
--- /dev/null
+++ b/pipeline/stages/04b_trim_water.py
@@ -0,0 +1,428 @@
+#!/usr/bin/env python3
+"""Stage 04b — Trim out-of-water (hors-eau) head/tail frames from already-extracted segments.
+
+Ports the sustained-run trim logic from cosma-qc/scripts/dispatcher.py (_AUTO_TRIM_SCRIPT,
+trim_above_water_prefix) into the new cosma-pipeline pipeline. Re-runs frame QC scoring
+on the trimmed set and updates state.db (jobs.status + metrics).
+
+Usage:
+    python3 04b_trim_water.py --mission 20260505-Lepradet
+    python3 04b_trim_water.py --mission 20260505-Lepradet --auv AUV210 --segment GX019837
+    python3 04b_trim_water.py --mission 20260505-Lepradet --dry-run
+
+Safety:
+    - Skips segments where ffmpeg is still running on the frames dir (extraction in progress).
+    - Skips segments with a queued/running 05_inference job in state.db.
+    - Skips segments whose frame count is not stable over a 5s window.
+    - Never deletes all frames (sanity floor: keep everything if trim would empty the dir).
+"""
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import subprocess
+import sys
+import time
+from pathlib import Path
+
+import cv2
+
+sys.path.insert(0, str(Path(__file__).parent.parent))
+sys.path.insert(0, str(Path(__file__).parent))
+from orchestrator.db import init_db, get_conn, upsert_job, record_metric, now_iso
+from lib_frame_qc import score_image_file, aggregate as qc_aggregate
+
+PIPELINE_BASE = Path(os.environ.get("COSMA_PIPELINE_BASE", "/home/cosma/cosma-pipeline"))
+QC_SAMPLE_RATE = int(os.environ.get("COSMA_QC_SAMPLE_RATE", "5"))
+QC_BOTTOM_OK_PCT = float(os.environ.get("COSMA_QC_BOTTOM_OK_PCT", "50"))
+NEED_STREAK = 10  # consecutive underwater frames required to lock start/end
+
+
+# -----------------------------------------------------------------------------
+# Trim logic (ported verbatim from dispatcher._AUTO_TRIM_SCRIPT)
+# -----------------------------------------------------------------------------
+
+def is_underwater(path: Path) -> bool | None:
+    img = cv2.imread(str(path), cv2.IMREAD_REDUCED_COLOR_4)
+    if img is None:
+        return None
+    b, g, r = [float(c) for c in cv2.mean(img)[:3]]
+    # Red is absorbed by water → R < G AND R < B on underwater shots.
+    return r < g - 5 and r < b - 5
+
+
+def trim_segment(frames_dir: Path, dry_run: bool = False) -> tuple[int, int, int]:
+    """Delete leading and trailing out-of-water frames.
+    Returns (head_removed, tail_removed, remaining).
+    """
+    paths = sorted(frames_dir.glob("frame_*.jpg"))
+    if not paths:
+        return (0, 0, 0)
+
+    # Scan from start
+    start = 0
+    streak = 0
+    for i, p in enumerate(paths):
+        uw = is_underwater(p)
+        if uw is None:
+            continue
+        if uw:
+            streak += 1
+            if streak >= NEED_STREAK:
+                start = i - NEED_STREAK + 1
+                break
+        else:
+            streak = 0
+
+    # Scan from end
+    end = len(paths)
+    streak = 0
+    for j in range(len(paths) - 1, -1, -1):
+        uw = is_underwater(paths[j])
+        if uw is None:
+            continue
+        if uw:
+            streak += 1
+            if streak >= NEED_STREAK:
+                end = j + NEED_STREAK  # exclusive
+                break
+        else:
+            streak = 0
+
+    if end <= start:
+        # Sanity: never delete everything.
+        start = 0
+        end = len(paths)
+
+    removed_head = start
+    removed_tail = len(paths) - end
+
+    if not dry_run:
+        for p in paths[:start]:
+            try:
+                p.unlink()
+            except OSError:
+                pass
+        for p in paths[end:]:
+            try:
+                p.unlink()
+            except OSError:
+                pass
+
+    return (removed_head, removed_tail, end - start)
+
+
+# -----------------------------------------------------------------------------
+# Safety: is this segment currently being touched?
+# -----------------------------------------------------------------------------
+
+def has_ffmpeg_running_on(frames_dir: Path) -> bool:
+    """Check if any ffmpeg process is writing into frames_dir."""
+    try:
+        r = subprocess.run(
+            ["pgrep", "-af", "ffmpeg"], capture_output=True, text=True, timeout=5
+        )
+        for line in r.stdout.splitlines():
+            if str(frames_dir) in line:
+                return True
+    except Exception:
+        pass
+    return False
+
+
+def has_inference_running_on(frames_dir: Path) -> bool:
+    """Check if any 05_inference.py process is running on frames_dir."""
+    try:
+        r = subprocess.run(
+            ["pgrep", "-af", "05_inference"], capture_output=True, text=True, timeout=5
+        )
+        for line in r.stdout.splitlines():
+            if str(frames_dir) in line:
+                return True
+    except Exception:
+        pass
+    return False
+
+
+def has_pending_inference_job(conn, mission_id: int, auv_id: str, segment: str) -> bool:
+    """Check state.db for queued/running 05_inference job on this segment."""
+    row = conn.execute(
+        "SELECT status FROM jobs WHERE mission_id=? AND auv_id=? "
+        "AND segment_label=? AND stage='05_inference'",
+        (mission_id, auv_id, segment),
+    ).fetchone()
+    if row is None:
+        return False
+    return row["status"] in ("queued", "running")
+
+
+def frame_count_is_stable(frames_dir: Path, wait_s: float = 5.0) -> bool:
+    """Return True if the frame count doesn't change over wait_s."""
+    n1 = sum(1 for _ in frames_dir.glob("frame_*.jpg"))
+    time.sleep(wait_s)
+    n2 = sum(1 for _ in frames_dir.glob("frame_*.jpg"))
+    return n1 == n2
+
+
+# -----------------------------------------------------------------------------
+# QC re-scoring (mirrors stage 04 qc_segment)
+# -----------------------------------------------------------------------------
+
+def qc_segment(frames_dir: Path, sample_rate: int = QC_SAMPLE_RATE) -> dict | None:
+    frames = sorted(frames_dir.glob("frame_*.jpg"))
+    if not frames:
+        return None
+    sampled = frames[::max(1, sample_rate)]
+    per_frame = []
+    for f in sampled:
+        s = score_image_file(f)
+        if s is not None:
+            per_frame.append(s)
+    if not per_frame:
+        return None
+    agg = qc_aggregate(per_frame)
+    qc_payload = {
+        "frames_in_dir": len(frames),
+        "frames_sampled": len(per_frame),
+        "sample_rate": sample_rate,
+        **agg,
+        "per_frame": per_frame,
+    }
+    try:
+        (frames_dir / "qc.json").write_text(json.dumps(qc_payload, indent=2))
+    except Exception as e:
+        print(f"  [04b] qc.json write failed: {e}")
+    return agg
+
+
+# -----------------------------------------------------------------------------
+# Main per-segment driver
+# -----------------------------------------------------------------------------
+
+def process_segment(mission_name: str, auv_id: str, segment: str,
+                    frames_dir: Path, dry_run: bool, conn) -> dict:
+    result = {
+        "auv_id": auv_id,
+        "segment": segment,
+        "frames_dir": str(frames_dir),
+        "skipped": False,
+        "head_removed": 0,
+        "tail_removed": 0,
+        "remaining": 0,
+        "before_total": 0,
+        "before_bottom_pct": None,
+        "after_bottom_pct": None,
+        "status_before": None,
+        "status_after": None,
+    }
+
+    if not frames_dir.is_dir():
+        result["skipped"] = True
+        result["reason"] = "no_frames_dir"
+        return result
+
+    # Safety checks
+    if has_ffmpeg_running_on(frames_dir):
+        result["skipped"] = True
+        result["reason"] = "ffmpeg_running"
+        print(f"  [04b] SKIP {auv_id}/{segment}: ffmpeg still extracting")
+        return result
+
+    if has_inference_running_on(frames_dir):
+        result["skipped"] = True
+        result["reason"] = "inference_running_proc"
+        print(f"  [04b] SKIP {auv_id}/{segment}: 05_inference process running")
+        return result
+
+    # Look up mission_id + current 04 job
+    mission_row = conn.execute(
+        "SELECT id FROM missions WHERE name=?", (mission_name,)
+    ).fetchone()
+    if not mission_row:
+        result["skipped"] = True
+        result["reason"] = "mission_not_in_db"
+        return result
+    mission_id = mission_row["id"]
+
+    if has_pending_inference_job(conn, mission_id, auv_id, segment):
+        result["skipped"] = True
+        result["reason"] = "inference_job_pending"
+        print(f"  [04b] SKIP {auv_id}/{segment}: 05_inference queued/running in DB")
+        return result
+
+    if not frame_count_is_stable(frames_dir, wait_s=5.0):
+        result["skipped"] = True
+        result["reason"] = "frame_count_unstable"
+        print(f"  [04b] SKIP {auv_id}/{segment}: frame count not stable")
+        return result
+
+    # Snapshot before
+    before_paths = sorted(frames_dir.glob("frame_*.jpg"))
+    result["before_total"] = len(before_paths)
+    job04_row = conn.execute(
+        "SELECT id, status FROM jobs WHERE mission_id=? AND auv_id=? "
+        "AND segment_label=? AND stage='04_frame_extract'",
+        (mission_id, auv_id, segment),
+    ).fetchone()
+    if job04_row is None:
+        result["skipped"] = True
+        result["reason"] = "no_04_job_in_db"
+        print(f"  [04b] SKIP {auv_id}/{segment}: no 04 job row")
+        return result
+    result["status_before"] = job04_row["status"]
+
+    # Read current QC if available
+    qc_path = frames_dir / "qc.json"
+    if qc_path.exists():
+        try:
+            result["before_bottom_pct"] = json.loads(qc_path.read_text()).get("bottom_visible_pct")
+        except Exception:
+            pass
+
+    # Trim
+    head, tail, remaining = trim_segment(frames_dir, dry_run=dry_run)
+    result["head_removed"] = head
+    result["tail_removed"] = tail
+    result["remaining"] = remaining
+
+    # Re-QC if not dry-run and something was trimmed (or always to keep metrics fresh)
+    after_agg = None
+    if not dry_run and (head > 0 or tail > 0):
+        after_agg = qc_segment(frames_dir)
+    elif dry_run:
+        # In dry-run, don't touch qc.json; compute aggregate from remaining slice in-memory
+        remaining_paths = sorted(frames_dir.glob("frame_*.jpg"))[head: len(before_paths) - tail]
+        sampled = remaining_paths[::max(1, QC_SAMPLE_RATE)]
+        per_frame = [s for s in (score_image_file(f) for f in sampled) if s is not None]
+        if per_frame:
+            after_agg = qc_aggregate(per_frame)
+
+    if after_agg is not None:
+        result["after_bottom_pct"] = after_agg.get("bottom_visible_pct")
+
+    if dry_run:
+        print(
+            f"  [04b] DRY {auv_id}/{segment}: head={head} tail={tail} "
+            f"remaining={remaining} (before={len(before_paths)}, "
+            f"bottom_pct {result['before_bottom_pct']}→{result['after_bottom_pct']})"
+        )
+        return result
+
+    # Update DB: job row + metrics
+    job_id = job04_row["id"]
+    bottom_pct = after_agg.get("bottom_visible_pct") if after_agg else None
+
+    if bottom_pct is not None and bottom_pct >= QC_BOTTOM_OK_PCT:
+        new_status = "done"
+        err_msg = None
+    elif bottom_pct is not None:
+        new_status = "degraded"
+        err_msg = f"bottom_visible_pct={bottom_pct}% <{QC_BOTTOM_OK_PCT}% (after trim)"
+    else:
+        new_status = job04_row["status"]
+        err_msg = None
+
+    upsert_job(
+        conn, mission_id, auv_id, segment, "04_frame_extract",
+        status=new_status,
+        output_path=str(frames_dir),
+        error_msg=err_msg,
+    )
+    record_metric(conn, job_id, "trimmed_head", value=float(head))
+    record_metric(conn, job_id, "trimmed_tail", value=float(tail))
+    record_metric(conn, job_id, "frames_after_trim", value=float(remaining))
+    if after_agg:
+        for k in (
+            "frames_total", "frames_bottom_visible", "frames_out_of_water",
+            "frames_turbid", "frames_water_no_bottom",
+        ):
+            if k in after_agg:
+                record_metric(conn, job_id, k, value=float(after_agg[k]))
+        if bottom_pct is not None:
+            record_metric(
+                conn, job_id, "bottom_visible_pct",
+                value=float(bottom_pct),
+                pass_fail="pass" if bottom_pct >= QC_BOTTOM_OK_PCT else "degraded",
+            )
+
+    result["status_after"] = new_status
+    print(
+        f"  [04b] {auv_id}/{segment}: trimmed head={head} tail={tail} "
+        f"remaining={remaining}, bottom_pct={bottom_pct}% ({result['status_before']}→{new_status})"
+    )
+    return result
+
+
+# -----------------------------------------------------------------------------
+# Discovery + CLI
+# -----------------------------------------------------------------------------
+
+def find_segments(mission_name: str, auv_filter: str | None,
+                  segment_filter: str | None) -> list[tuple[str, str, Path]]:
+    base = PIPELINE_BASE / "data" / mission_name / "frames"
+    out: list[tuple[str, str, Path]] = []
+    if not base.is_dir():
+        return out
+    for auv_dir in sorted(base.iterdir()):
+        if not auv_dir.is_dir():
+            continue
+        if auv_filter and auv_dir.name != auv_filter:
+            continue
+        for seg_dir in sorted(auv_dir.iterdir()):
+            if not seg_dir.is_dir():
+                continue
+            if segment_filter and seg_dir.name != segment_filter:
+                continue
+            out.append((auv_dir.name, seg_dir.name, seg_dir))
+    return out
+
+
+def main():
+    ap = argparse.ArgumentParser(description="Stage 04b — Trim hors-eau head/tail frames")
+    ap.add_argument("--mission", default="20260505-Lepradet")
+    ap.add_argument("--auv")
+    ap.add_argument("--segment")
+    ap.add_argument("--dry-run", action="store_true")
+    args = ap.parse_args()
+
+    init_db()
+
+    segments = find_segments(args.mission, args.auv, args.segment)
+    if not segments:
+        print(f"[04b] No segments found under {args.mission}")
+        sys.exit(1)
+
+    print(f"[04b] Mission={args.mission}  segments={len(segments)}  dry_run={args.dry_run}")
+    results: list[dict] = []
+    with get_conn() as conn:
+        for auv_id, segment, frames_dir in segments:
+            try:
+                r = process_segment(args.mission, auv_id, segment, frames_dir,
+                                    args.dry_run, conn)
+            except Exception as e:
+                r = {"auv_id": auv_id, "segment": segment, "error": str(e),
+                     "skipped": True}
+                print(f"  [04b] ERR {auv_id}/{segment}: {e}")
+            results.append(r)
+
+    # Summary
+    print("\n=== Stage 04b summary ===")
+    upgraded = [r for r in results
+                if r.get("status_before") == "degraded" and r.get("status_after") == "done"]
+    still_degraded = [r for r in results
+                      if r.get("status_after") == "degraded"]
+    skipped = [r for r in results if r.get("skipped")]
+    print(f"Upgraded degraded→done : {len(upgraded)}")
+    for r in upgraded:
+        print(f"  + {r['auv_id']}/{r['segment']} "
+              f"({r['before_bottom_pct']}%→{r['after_bottom_pct']}%, "
+              f"trim head={r['head_removed']} tail={r['tail_removed']})")
+    print(f"Still degraded         : {len(still_degraded)}")
+    print(f"Skipped                : {len(skipped)}")
+    for r in skipped:
+        print(f"  - {r['auv_id']}/{r['segment']}: {r.get('reason', 'unknown')}")
+
+
+if __name__ == "__main__":
+    main()
diff --git a/pipeline/stages/05_inference.py b/pipeline/stages/05_inference.py
new file mode 100644
index 0000000..274a1ab
--- /dev/null
+++ b/pipeline/stages/05_inference.py
@@ -0,0 +1,288 @@
+#!/usr/bin/env python3
+"""Stage 05 — Run lingbot-map inference on extracted frames.
+
+Args:
+    --frames-dir <path>   Directory with frame_*.jpg (or parent with AUV subdirs)
+    --worker <auto|.84|.87>   GPU worker selection
+    --mission <name>      Mission name for output paths
+
+Workers:
+  .84: /root/ai-video/lingbot-map/.venv/bin/python demo.py ...
+  .87: /home/floppyrj45/ai-video/lingbot-map/.venv/bin/python demo.py ...
+
+Auto: pick by lowest GPU memory usage (nvidia-smi via SSH).
+
+Flow:
+1. rsync frames .83 → worker /root/cosma-frames-tmp/ (or /home/floppyrj45/)
+2. SSH launch demo.py with windowed mode (window=64, overlap=16)
+3. Retrieve PLY + NPZ → .83 ~/cosma-pipeline/data/<mission>/ply/<AUV>/<segment>.{ply,npz}
+4. Cleanup worker temp dir
+5. Log to SQLite: duration, GPU peak mem, nb points in PLY
+
+Usage:
+    python3 05_inference.py --frames-dir ~/cosma-pipeline/data/20260505-Lepradet/frames/AUV210/GX019837 --worker auto --mission 20260505-Lepradet
+"""
+from __future__ import annotations
+
+import argparse
+import json
+import os
+import subprocess
+import sys
+import time
+from pathlib import Path
+
+sys.path.insert(0, str(Path(__file__).parent.parent))
+from orchestrator.db import init_db, get_conn, upsert_job, record_metric, now_iso
+
+PIPELINE_BASE = Path(os.environ.get("COSMA_PIPELINE_BASE", "/home/cosma/cosma-pipeline"))
+
+WORKERS = {
+    ".84": {
+        "host": "192.168.0.84",
+        "user": "root",
+        "ai_dir": "/root/ai-video/lingbot-map",
+        "venv": "/root/ai-video/lingbot-map/.venv/bin/python",
+        "tmp_dir": "/root/cosma-frames-tmp",
+    },
+    ".87": {
+        "host": "192.168.0.87",
+        "user": "floppyrj45",
+        "ai_dir": "/home/floppyrj45/ai-video/lingbot-map",
+        "venv": "/home/floppyrj45/ai-video/lingbot-map/.venv/bin/python",
+        "tmp_dir": "/home/floppyrj45/cosma-frames-tmp",
+    },
+}
+
+
+def get_gpu_mem_used(worker_key: str) -> int:
+    """Return GPU memory used in MB via SSH nvidia-smi. Returns 99999 on error."""
+    w = WORKERS[worker_key]
+    cmd = [
+        "ssh", "-o", "StrictHostKeyChecking=no", "-o", "ConnectTimeout=5",
+        f"{w['user']}@{w['host']}",
+        "nvidia-smi --query-gpu=memory.used --format=csv,noheader,nounits 2>/dev/null | head -1"
+    ]
+    try:
+        r = subprocess.run(cmd, capture_output=True, text=True, timeout=10)
+        return int(r.stdout.strip())
+    except Exception:
+        return 99999
+
+
+def pick_worker() -> str:
+    """Auto-select worker with lowest GPU memory usage."""
+    best = None
+    best_mem = 99999
+    for key in WORKERS:
+        mem = get_gpu_mem_used(key)
+        print(f"  [05] Worker {key}: GPU mem={mem}MB")
+        if mem < best_mem:
+            best_mem = mem
+            best = key
+    if best is None:
+        raise RuntimeError("No GPU worker available")
+    print(f"  [05] Selected worker {best}")
+    return best
+
+
+def count_ply_points(ply_path: Path) -> int:
+    """Count vertex count in PLY file header."""
+    try:
+        with open(ply_path, "rb") as f:
+            for _ in range(30):
+                line = f.readline().decode("ascii", errors="ignore").strip()
+                if line.startswith("element vertex"):
+                    return int(line.split()[-1])
+    except Exception:
+        pass
+    return 0
+
+
+def run_inference(frames_dir: Path, worker_key: str, mission_name: str,
+                  auv_id: str, segment: str) -> dict:
+    """Run lingbot-map on one segment. Returns metrics."""
+    w = WORKERS[worker_key]
+    host = w["host"]
+    user = w["user"]
+    ssh_target = f"{user}@{host}"
+    worker_frames = f"{w['tmp_dir']}/{mission_name}/{auv_id}/{segment}"
+    ply_remote = f"{w['tmp_dir']}/{mission_name}/{auv_id}/{segment}.ply"
+    npz_remote = f"{w['tmp_dir']}/{mission_name}/{auv_id}/{segment}.npz"
+
+    out_dir = PIPELINE_BASE / "data" / mission_name / "ply" / auv_id
+    out_dir.mkdir(parents=True, exist_ok=True)
+    out_ply = out_dir / f"{segment}.ply"
+    out_npz = out_dir / f"{segment}.npz"
+
+    if out_ply.exists() and out_ply.stat().st_size > 1000:
+        n_pts = count_ply_points(out_ply)
+        print(f"  [05] {auv_id}/{segment}: cached PLY ({n_pts} pts)")
+        return {"cached": True, "ply": str(out_ply), "n_points": n_pts}
+
+    metrics = {
+        "auv_id": auv_id,
+        "segment": segment,
+        "worker": worker_key,
+        "status": "ok",
+    }
+
+    # Step 1: create remote temp dir + rsync frames
+    print(f"  [05] rsync {frames_dir} → {ssh_target}:{worker_frames}...")
+    subprocess.run(
+        ["ssh", "-o", "StrictHostKeyChecking=no", ssh_target,
+         f"mkdir -p {worker_frames}"],
+        check=True, timeout=15,
+    )
+    r = subprocess.run(
+        ["rsync", "-az", "--delete",
+         str(frames_dir) + "/",
+         f"{ssh_target}:{worker_frames}/"],
+        capture_output=True, text=True, timeout=600,
+    )
+    if r.returncode != 0:
+        metrics["status"] = "error"
+        metrics["error"] = f"rsync failed: {r.stderr[-200:]}"
+        return metrics
+    print(f"  [05] rsync done")
+
+    # Step 2: build demo.py command
+    checkpoint = f"{w['ai_dir']}/checkpoints/lingbot-map/lingbot-map.pt"
+    demo_cmd = (
+        f"cd {w['ai_dir']} && "
+        f"{w['venv']} demo.py "
+        f"--model_path {checkpoint} "
+        f"--image_folder {worker_frames} "
+        f"--mode windowed "
+        f"--window_size 64 "
+        f"--overlap_size 16 "
+        f"--save_ply {ply_remote} "
+        f"--save_poses {npz_remote} "
+        f"--use_sdpa "
+        f"2>&1"
+    )
+
+    print(f"  [05] Launching inference on {host}...")
+    t0 = time.time()
+    r = subprocess.run(
+        ["ssh", "-o", "StrictHostKeyChecking=no", ssh_target, demo_cmd],
+        capture_output=True, text=True, timeout=7200,  # 2h max
+    )
+    elapsed = time.time() - t0
+    metrics["inference_s"] = round(elapsed, 1)
+
+    if r.returncode != 0:
+        metrics["status"] = "error"
+        metrics["error"] = r.stdout[-500:] + r.stderr[-200:]
+        print(f"  [05] inference error: {metrics['error'][-200:]}")
+        return metrics
+
+    print(f"  [05] Inference done in {elapsed:.1f}s")
+
+    # Step 3: GPU peak mem from nvidia-smi log (best-effort parse)
+    gpu_mem_line = [l for l in r.stdout.split("\n") if "MiB" in l]
+    metrics["gpu_peak_mb"] = get_gpu_mem_used(worker_key)
+
+    # Step 4: rsync PLY + NPZ back
+    print(f"  [05] Retrieving PLY + NPZ...")
+    for remote, local in [(ply_remote, out_ply), (npz_remote, out_npz)]:
+        r2 = subprocess.run(
+            ["rsync", "-az", f"{ssh_target}:{remote}", str(local)],
+            capture_output=True, text=True, timeout=120,
+        )
+        if r2.returncode != 0:
+            print(f"  [05] Warning: rsync back failed for {remote}: {r2.stderr[-100:]}")
+
+    # Step 5: cleanup worker
+    subprocess.run(
+        ["ssh", "-o", "StrictHostKeyChecking=no", ssh_target,
+         f"rm -rf {worker_frames} {ply_remote} {npz_remote}"],
+        timeout=30,
+    )
+
+    # Count PLY points
+    n_pts = count_ply_points(out_ply) if out_ply.exists() else 0
+    metrics["n_points"] = n_pts
+    metrics["ply"] = str(out_ply)
+    print(f"  [05] PLY: {n_pts} points → {out_ply}")
+
+    return metrics
+
+
+def process_frames_dir(frames_dir: Path, worker_key: str, mission_name: str) -> list[dict]:
+    """Process a directory of frames (single segment or AUV tree)."""
+    # Detect if frames_dir contains frame_*.jpg directly or subdirs
+    direct_frames = list(frames_dir.glob("frame_*.jpg"))
+
+    if direct_frames:
+        # Single segment
+        parts = frames_dir.parts
+        auv_id = frames_dir.parent.name if len(parts) >= 2 else "UNKNOWN"
+        segment = frames_dir.name
+        return [run_inference(frames_dir, worker_key, mission_name, auv_id, segment)]
+
+    # Tree: frames_dir/<AUV>/<segment>/frame_*.jpg
+    all_metrics = []
+    for auv_dir in sorted(frames_dir.iterdir()):
+        if not auv_dir.is_dir():
+            continue
+        auv_id = auv_dir.name
+        for seg_dir in sorted(auv_dir.iterdir()):
+            if not seg_dir.is_dir():
+                continue
+            frames = list(seg_dir.glob("frame_*.jpg"))
+            if not frames:
+                continue
+            print(f"\n[05] === {auv_id}/{seg_dir.name}: {len(frames)} frames ===")
+            m = run_inference(seg_dir, worker_key, mission_name, auv_id, seg_dir.name)
+            all_metrics.append(m)
+
+            init_db()
+            with get_conn() as conn:
+                mission_row = conn.execute(
+                    "SELECT id FROM missions WHERE name=?", (mission_name,)
+                ).fetchone()
+                if mission_row and not m.get("cached"):
+                    job_id = upsert_job(
+                        conn, mission_row["id"], auv_id, seg_dir.name, "05_inference",
+                        status="done" if m.get("status") == "ok" else m.get("status", "error"),
+                        output_path=m.get("ply", ""),
+                    )
+                    record_metric(conn, job_id, "ply_points", value=m.get("n_points", 0),
+                                  pass_fail="pass" if m.get("n_points", 0) > 100 else "fail")
+                    if "inference_s" in m:
+                        record_metric(conn, job_id, "inference_s", value=m["inference_s"])
+                    if "gpu_peak_mb" in m:
+                        record_metric(conn, job_id, "gpu_peak_mb", value=m["gpu_peak_mb"])
+
+    return all_metrics
+
+
+def main():
+    ap = argparse.ArgumentParser(description="Stage 05 — lingbot-map inference")
+    ap.add_argument("--frames-dir", type=Path, required=True,
+                    help="Frames dir (single segment or AUV tree)")
+    ap.add_argument("--worker", type=str, default="auto",
+                    choices=["auto", ".84", ".87"])
+    ap.add_argument("--mission", type=str, required=True,
+                    help="Mission name (e.g. 20260505-Lepradet)")
+    args = ap.parse_args()
+
+    worker = args.worker
+    if worker == "auto":
+        worker = pick_worker()
+
+    metrics = process_frames_dir(args.frames_dir, worker, args.mission)
+
+    print("\n=== Stage 05 summary ===")
+    total_pts = sum(m.get("n_points", 0) for m in metrics)
+    ok = sum(1 for m in metrics if m.get("status") == "ok" or m.get("cached"))
+    print(f"  Segments OK: {ok}/{len(metrics)}, total PLY points: {total_pts}")
+    for m in metrics:
+        print(f"  {m.get('auv_id','?')}/{m.get('segment','?')}: "
+              f"{m.get('n_points',0)} pts "
+              f"[{m.get('status','cached' if m.get('cached') else '?')}]")
+
+
+if __name__ == "__main__":
+    main()