From 68a606a98e4447d274eae87be2831d50817acd9f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=C3=81kos=20Halmai?= <halmaia@gmail.com>
Date: Thu, 23 Mar 2023 22:23:42 +0100
Subject: [PATCH] Various memory managemnet issues resolved & Depth field.

---
 3D.cs                          |   7 +-
 BitmapHelper.cs                |  14 +-
 InterferometricMeasurement.cs  |   4 +-
 Program.cs                     |  16 +-
 Properties/launchSettings.json |   2 +-
 SL3Reader.cs                   | 323 ++++++++++++++++++++-------------
 6 files changed, 218 insertions(+), 148 deletions(-)

diff --git a/3D.cs b/3D.cs
index 3b20239..ab43436 100644
--- a/3D.cs
+++ b/3D.cs
@@ -1,8 +1,9 @@
-using System.Runtime.InteropServices;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
 
 namespace SL3Reader {
-    [StructLayout(LayoutKind.Sequential, Size = Size)]
-    public readonly ref struct ThreeDimensionalFrameHeader
+    [StructLayout(LayoutKind.Sequential, Size = Size), SkipLocalsInit]
+    public readonly ref  struct ThreeDimensionalFrameHeader
     {
         public const int Size = 76;
 
diff --git a/BitmapHelper.cs b/BitmapHelper.cs
index b3a1b76..1b4d240 100644
--- a/BitmapHelper.cs
+++ b/BitmapHelper.cs
@@ -1,9 +1,9 @@
 using System;
-using System.Runtime.CompilerServices;
-using System.Runtime.InteropServices.Marshalling;
 
-namespace SL3Reader {
-    public static class BitmapHelper {
+namespace SL3Reader
+{
+    public static class BitmapHelper
+    {
         public const int BitmapCombinedHeaderSize =
                             BitmapFileHeader.Size +
                             BitmapInfoHeader.Size +
@@ -278,7 +278,8 @@ public static class BitmapHelper {
             56,187,240,0 /* End Palette */
        };
 
-        public static byte[] CreateBuffer(int maxHeight, int maxWidth) {
+        public static byte[] CreateBuffer(int maxHeight, int maxWidth)
+        {
             // (maxHeight * (maxWidth + (4 - maxWidth % 4))));
             byte[] buffer = GC.AllocateUninitializedArray<byte>(
                             BitmapCombinedHeaderSize +
@@ -291,7 +292,8 @@ public static unsafe void UpdateBuffer(byte[] buffer,
             int height, int width,
             out int fullStride,
             out Span<byte> fileBuffer,
-            out Span<byte> pixelData) {
+            out Span<byte> pixelData)
+        {
             fullStride = width; //width + (4 - (width % 4));
             fixed (byte* pBuffer = &buffer[0]) // Just formal: buffer is pre-pinned by the GC.
             {
diff --git a/InterferometricMeasurement.cs b/InterferometricMeasurement.cs
index e589796..d116171 100644
--- a/InterferometricMeasurement.cs
+++ b/InterferometricMeasurement.cs
@@ -5,8 +5,8 @@ namespace SL3Reader {
     public readonly ref struct InterferometricMeasurement
     {
         public const int Size = 2 * sizeof(float);
-        public readonly float Delta { get; }
-        public readonly float Depth { get; }
+        public readonly float Delta;
+        public readonly float Depth;
         public override readonly string ToString() => $"{Delta};{Depth}";
     }
 }
\ No newline at end of file
diff --git a/Program.cs b/Program.cs
index 1d0da8c..83d1830 100644
--- a/Program.cs
+++ b/Program.cs
@@ -109,14 +109,14 @@ void PrintSummary() {
                 SortedDictionary<SurveyType, List<int>> indexByType = sl3reader.IndexByType;
 
                 WriteLine("File statistics:");
-                WriteLine("\tNumber of frames: " + sl3reader.Frames.Count.ToString());
-                WriteLine("\tNumber of primary frames: " + indexByType[SurveyType.Primary].Count.ToString());
-                WriteLine("\tNumber of secondary frames: " + indexByType[SurveyType.Secondary].Count.ToString());
-                WriteLine("\tNumber of left sidescan frames: " + indexByType[SurveyType.LeftSidescan].Count.ToString());
-                WriteLine("\tNumber of right sidescan frames: " + indexByType[SurveyType.RightSidescan].Count.ToString());
-                WriteLine("\tNumber of sidescan frames: " + indexByType[SurveyType.SideScan].Count.ToString());
-                WriteLine("\tNumber of downscan frames: " + indexByType[SurveyType.DownScan].Count.ToString());
-                WriteLine("\tNumber of 3D frames: " + indexByType[SurveyType.ThreeDimensional].Count.ToString());
+                WriteLine("\tNumber of frames: " + sl3reader.Frames.Count.ToString("# ##0"));
+                WriteLine("\tNumber of primary frames: " + indexByType[SurveyType.Primary].Count.ToString("# ##0"));
+                WriteLine("\tNumber of secondary frames: " + indexByType[SurveyType.Secondary].Count.ToString("# ##0"));
+                WriteLine("\tNumber of left sidescan frames: " + indexByType[SurveyType.LeftSidescan].Count.ToString("# ##0"));
+                WriteLine("\tNumber of right sidescan frames: " + indexByType[SurveyType.RightSidescan].Count.ToString("# ##0"));
+                WriteLine("\tNumber of sidescan frames: " + indexByType[SurveyType.SideScan].Count.ToString("# ##0"));
+                WriteLine("\tNumber of downscan frames: " + indexByType[SurveyType.DownScan].Count.ToString("# ##0"));
+                WriteLine("\tNumber of 3D frames: " + indexByType[SurveyType.ThreeDimensional].Count.ToString("# ##0"));
                 
                 WriteLine();
                 PrintGreen("\nExport finished successfully.");
diff --git a/Properties/launchSettings.json b/Properties/launchSettings.json
index 03262ce..42c87b2 100644
--- a/Properties/launchSettings.json
+++ b/Properties/launchSettings.json
@@ -2,7 +2,7 @@
   "profiles": {
     "SL3Reader": {
       "commandName": "Project",
-      "commandLineArgs": "\"F:\\Sonar0000saar.sl3\" \"F:\\SS\" -ss"
+      "commandLineArgs": "\"F:\\Sonar0000saar.sl3\" \"F:\\op.csv\" -3dm"
     }
   }
 }
diff --git a/SL3Reader.cs b/SL3Reader.cs
index a399825..245a6e6 100644
--- a/SL3Reader.cs
+++ b/SL3Reader.cs
@@ -17,8 +17,12 @@
 using System.Diagnostics.CodeAnalysis;
 using System.ComponentModel;
 using System.ComponentModel.Design;
+using System.Reflection.Metadata;
+using System.Runtime.InteropServices;
+using System.Text.RegularExpressions;
 
-namespace SL3Reader {
+namespace SL3Reader
+{
 
     [DebuggerDisplay("{Name}")]
     public class SL3Reader :
@@ -26,25 +30,30 @@ public class SL3Reader :
         IEnumerable<IFrame>,
         IEnumerable,
         IReadOnlyList<IFrame>,
-        IReadOnlyCollection<IFrame> {
+        IReadOnlyCollection<IFrame>
+    {
         #region Frame support
         private List<IFrame> frames;
         public IReadOnlyList<IFrame> Frames => frames ??= CreateNewFrameList(this);
 
         [MethodImpl(MethodImplOptions.AggressiveInlining), SkipLocalsInit]
-        private List<IFrame> CreateNewFrameList() {
+        private List<IFrame> CreateNewFrameList()
+        {
             const long averageFrameSize = 2118L; // Empirically set value to avoid frequent resize of the underlying array.
             return new((int)(Length / averageFrameSize));
         }
 
-        private List<IFrame> CreateNewFrameList(IEnumerable<IFrame> collection) {
+        private List<IFrame> CreateNewFrameList(IEnumerable<IFrame> collection)
+        {
             List<IFrame> localFrames = CreateNewFrameList();
 
-            using (IEnumerator<IFrame> en = collection!.GetEnumerator()) {
+            using (IEnumerator<IFrame> en = collection!.GetEnumerator())
+            {
                 int i = 0;
                 InitIndexSupport(localFrames.Capacity);
                 SortedDictionary<SurveyType, List<int>> typeIndex = IndexByType;
-                while (en.MoveNext()) {
+                while (en.MoveNext())
+                {
                     IFrame frame = en.Current;
                     localFrames.Add(frame); // TODO: detect millisecond error!
                     typeIndex[frame.SurveyType].Add(i++);
@@ -64,7 +73,8 @@ private List<IFrame> CreateNewFrameList(IEnumerable<IFrame> collection) {
         #region Augmented Coordinates
         private List<GeoPoint> augmentedCoordinates;
         public List<GeoPoint> AugmentedCoordinates => augmentedCoordinates ??= CreateNewCoordinateList();
-        private List<GeoPoint> CreateNewCoordinateList() {
+        private List<GeoPoint> CreateNewCoordinateList()
+        {
             const long averageFrameSize = 2118L; // Empirically set value to avoid frequent resize of the underlying array.
             return new((int)(Length / averageFrameSize));
         }
@@ -73,7 +83,8 @@ private List<GeoPoint> CreateNewCoordinateList() {
         #region Indices
         public SortedDictionary<SurveyType, List<int>> IndexByType { get; private set; }
 
-        private void InitIndexSupport(int estimatedCount) {
+        private void InitIndexSupport(int estimatedCount)
+        {
             IndexByType = new()
             {
                 { SurveyType.Primary, new(estimatedCount / 8) },
@@ -94,7 +105,8 @@ private void InitIndexSupport(int estimatedCount) {
         [SkipLocalsInit]
         public unsafe SL3Reader(string path) :
            base(path, FileMode.Open, FileAccess.Read,
-           FileShare.Read, 4096, FileOptions.RandomAccess) {
+           FileShare.Read, 4096, FileOptions.RandomAccess)
+        {
             if (Length < (SLFileHeader.Size + Frame.MinimumInitSize))
                 throw new EndOfStreamException("The file is too short to be valid.");
 
@@ -107,14 +119,16 @@ public unsafe SL3Reader(string path) :
             AugmentTrajectory();
         }
 
-        public void ExportToCSV(string path, [ConstantExpected] SurveyType filter = SurveyType.All) {
+        public void ExportToCSV(string path, [ConstantExpected] SurveyType filter = SurveyType.All)
+        {
             File.WriteAllLines(path,
                 EnumerateFrames(Frames, AugmentedCoordinates, filter is SurveyType.All ? null : IndexByType[filter]));
 
             static IEnumerable<string> EnumerateFrames(
                                                         IReadOnlyList<IFrame> frames,
                                                         List<GeoPoint> augmentedCoordinates,
-                                                        IReadOnlyList<int>? typeList = null) {
+                                                        IReadOnlyList<int>? typeList = null)
+            {
 
                 yield return "CampaignID[#],DateTime[UTC],SurveyType,WaterDepth[Feet],Longitude[°WGS48],Latitude[°WGS84],GNSSAltitude[Feet_WGS84Ellipsoid],GNSSHeading[rad_azimuth],GNSSSpeed[m/s],MagneticHeading[rad_azimuth],MinRange[Feet],MaxRange[Feet],WaterTemperature[°C],WaterSpeed[Feet],HardwareTime[ms],Frequency,Milliseconds[ms],AugmentedX[m],AugmentedY[m]";
 
@@ -128,22 +142,25 @@ static IEnumerable<string> EnumerateFrames(
             }
         }
 
-        private List<int> GetBreakPoints(List<int> framesToCheck, out int contiguousLength) {
+        private List<int> GetBreakPoints(List<int> framesToCheck, out int contiguousLength)
+        {
             int i = 0;
-            var frames = Frames;
+            IReadOnlyList<IFrame> frames = Frames;
             int frameCount = framesToCheck.Count;
-            float previousRange = frames[framesToCheck[0]].MaxRange;
-            List<int> breakpoints = new(frameCount / 300) { 0 }; // ~300 empirical guess.
+            float previousRange = frames[framesToCheck[i]].MaxRange;
+            List<int> breakpoints = new(frameCount / 300) { i }; // ~300 empirical guess.
 
-            for (; i < frameCount; i++) {
+            for (; i < frameCount; i++)
+            {
                 float currentRange = frames[framesToCheck[i]].MaxRange;
-                if (currentRange != previousRange) {
+                if (currentRange != previousRange)
+                {
                     previousRange = currentRange;
                     breakpoints.Add(i);
                 }
             }
 
-            if (breakpoints[^1] != (i -= 1))
+            if (breakpoints[^1] != --i)
                 breakpoints.Add(i); // There was no change in the range, so we have to add the last one.
 
             contiguousLength = 0;
@@ -152,7 +169,8 @@ private List<int> GetBreakPoints(List<int> framesToCheck, out int contiguousLeng
                  maxIndex = breakpoints.Count - 1,
                  delta;
                  j < maxIndex;
-                 j ++) {
+                 j++)
+            {
                 if (contiguousLength < (delta = breakpoints[1 + j] - breakpoints[j]))
                     contiguousLength = delta;
             }
@@ -160,7 +178,8 @@ private List<int> GetBreakPoints(List<int> framesToCheck, out int contiguousLeng
             return breakpoints;
         }
 
-        public void ExportImagery(string path, SurveyType surveyType = SurveyType.SideScan) {
+        public void ExportImagery(string path, SurveyType surveyType = SurveyType.SideScan)
+        {
             ArgumentNullException.ThrowIfNull(nameof(path));
 
             if (Directory.Exists(path!))
@@ -180,7 +199,8 @@ public void ExportImagery(string path, SurveyType surveyType = SurveyType.SideSc
 
             byte[] buffer = BitmapHelper.CreateBuffer(maxHeight, numberOfColumns);
 
-            for (int i = 0, maxIndex = breakpoints.Count - 1; i < maxIndex; i++) {
+            for (int i = 0, maxIndex = breakpoints.Count - 1; i < maxIndex; i++)
+            {
                 int first = breakpoints[i], final = breakpoints[1 + i];
                 BitmapHelper.UpdateBuffer(
                     buffer, final - first, numberOfColumns,
@@ -188,7 +208,8 @@ public void ExportImagery(string path, SurveyType surveyType = SurveyType.SideSc
                     out Span<byte> fileBuffer,
                     out Span<byte> pixelData);
 
-                for (int j = first, k = 0; j < final; j++) {
+                for (int j = first, k = 0; j < final; j++)
+                {
                     long dataOffset = frames[imageFrames[j]].DataOffset;
                     SeekExactly(dataOffset);
 
@@ -204,7 +225,8 @@ public void ExportImagery(string path, SurveyType surveyType = SurveyType.SideSc
 
         [SkipLocalsInit, MethodImpl(MethodImplOptions.AggressiveInlining)]
         private static string GetPrefix(SurveyType surveyType) =>
-            surveyType switch {
+            surveyType switch
+            {
                 SurveyType.SideScan => "SS_",
                 SurveyType.DownScan => "DS_",
                 SurveyType.Primary => "PS_",
@@ -214,7 +236,8 @@ private static string GetPrefix(SurveyType surveyType) =>
                 _ => "UNKNOWN_"
             };
 
-        public unsafe void ExamineUnknown8Datasets() {
+        public unsafe void ExamineUnknown8Datasets()
+        {
             var frames = Frames;
             int frameCount = frames.Count; // Initialize the frames.
             if (frameCount < 1) return;
@@ -224,12 +247,15 @@ public unsafe void ExamineUnknown8Datasets() {
             if (frameCount < 1) return; // Return when no U8 exists
 
             var buffer = new byte[512];
-            fixed (byte* p = &buffer[0]) {
-                for (int i = 0; i < unknown8FrameCount - 1; i++) {
+            fixed (byte* p = &buffer[0])
+            {
+                for (int i = 0; i < unknown8FrameCount - 1; i++)
+                {
                     IFrame frame = frames[unknown8Frames[i]];
                     SeekExactly(frame.DataOffset);
                     Read(new(p, 512));
-                    for (int j = 0; j < 256; j += 2) {
+                    for (int j = 0; j < 256; j += 2)
+                    {
                         Debug.Print($"{buffer[j]}, {buffer[1 + j]}");
                     }
                 }
@@ -237,12 +263,13 @@ public unsafe void ExamineUnknown8Datasets() {
             }
         }
 
-        public unsafe void Export3D(string path, bool includeUnreliable = false, bool magneticHeading = false) {
+        public unsafe void Export3D(string path, bool includeUnreliable = false, bool magneticHeading = false)
+        {
             ArgumentNullException.ThrowIfNull(nameof(path));
 
             const string doubleFormat = "0.####";
             CultureInfo invariantCulture = CultureInfo.InvariantCulture;
-            string[] stringArray = GC.AllocateUninitializedArray<string>(8);
+
 
             IReadOnlyList<IFrame> frames = Frames;
             int frameCount = frames.Count; // Initialize the frames.
@@ -251,128 +278,161 @@ public unsafe void Export3D(string path, bool includeUnreliable = false, bool ma
             List<int> frames3D = IndexByType[SurveyType.ThreeDimensional];
             int frames3DLength = frames3D.Count;
             if (frames3DLength < 1) return;
-
-            using StreamWriter streamWriter = File.CreateText(path);
-            streamWriter.WriteLine("CampaignID,DateTime,X[Lowrance_m],Y[Lowrance_m],Z[m_WGS84Ellipsoid],Angle[°],Distance[m],Reliability");
-
             List<GeoPoint> augmentedCoordinates = AugmentedCoordinates;
-            ThreeDimensionalFrameHeader header = new();
-            Span<byte> sHeader = new(&header, ThreeDimensionalFrameHeader.Size);
-            byte* measurements = stackalloc byte[400 * InterferometricMeasurement.Size],
-                  reset = measurements;
-
-            for (int i = 0; i < frames3DLength; i++) {
-                int frame3DIndex = frames3D[i];
-                IFrame frame = frames[frame3DIndex];
-                GeoPoint augmentedCoordinate = augmentedCoordinates[frame3DIndex];
-
-                SeekExactly(frame.DataOffset);
-                ReadExactly(sHeader);
-                ReadExactly(new(measurements, header.NumberOfUsedBytes));
-
-                double centralX = augmentedCoordinate.X,
-                       centralY = augmentedCoordinate.Y,
-                       centralZ = .3048 * augmentedCoordinate.Altitude;
-
-                (double sin, double cos) =
-                    double.SinCos((magneticHeading ? frame.MagneticHeading : frame.GNSSHeading) - .5 * double.Pi);
-
-                stringArray[0] = frame.CampaignID.ToString();
-                stringArray[1] = frame.Timestamp.ToString("yyyy'-'MM'-'dd HH':'mm':'ss.fff'Z'", invariantCulture);
-                stringArray[7] = "R";
-
-                // Left side
-                byte* limit = measurements + header.NumberOfLeftBytes;
-                for (; measurements < limit; measurements += InterferometricMeasurement.Size) {
-                    InterferometricMeasurement* measurement = (InterferometricMeasurement*)measurements;
 
-                    double delta = measurement->Delta;
-                    double depth = measurement->Depth;
-                    double distance = .3048 * double.Hypot(delta, depth);
-                    double angle = 90 - (360 / double.Tau) * double.Atan2(depth, delta);
-
-                    delta *= -.3048; // Negative/Left side
-
-                    stringArray[2] = double.FusedMultiplyAdd(delta, sin, centralX).ToString(doubleFormat, invariantCulture); // Azimuthal direction
-                    stringArray[3] = double.FusedMultiplyAdd(delta, cos, centralY).ToString(doubleFormat, invariantCulture);
-                    stringArray[4] = double.FusedMultiplyAdd(-.3048, depth, centralZ).ToString(doubleFormat, invariantCulture);
-                    stringArray[5] = angle.ToString(doubleFormat, invariantCulture);
-                    stringArray[6] = distance.ToString(doubleFormat, invariantCulture);
-
-                    streamWriter.WriteLine(string.Join(',', stringArray));
-                }
-
-                // Right side
-                limit = measurements + header.NumberOfRightBytes;
-                for (; measurements < limit; measurements += InterferometricMeasurement.Size) {
-                    InterferometricMeasurement* measurement = (InterferometricMeasurement*)measurements;
+            using StreamWriter streamWriter = File.CreateText(path);
+            streamWriter.WriteLine("CampaignID,DateTime,X[Lowrance_m],Y[Lowrance_m],Z[m_WGS84Ellipsoid],Depth[m],Angle[°],Distance[m],Reliability");
 
-                    double delta = measurement->Delta;
-                    double depth = measurement->Depth;
-                    double distance = .3048 * double.Hypot(delta, depth);
-                    double angle = 90 - (360 / double.Tau) * double.Atan2(depth, delta);
 
-                    delta *= .3048; // Positive side
+            string[] stringArray = GC.AllocateUninitializedArray<string>(9);
 
-                    stringArray[2] = double.FusedMultiplyAdd(delta, sin, centralX).ToString(doubleFormat, invariantCulture); // Azimuthal direction
-                    stringArray[3] = double.FusedMultiplyAdd(delta, cos, centralY).ToString(doubleFormat, invariantCulture);
-                    stringArray[4] = double.FusedMultiplyAdd(-.3048, measurement->Depth, centralZ).ToString(doubleFormat, invariantCulture);
-                    stringArray[5] = angle.ToString(doubleFormat, invariantCulture);
-                    stringArray[6] = distance.ToString(doubleFormat, invariantCulture);
+            ThreeDimensionalFrameHeader header = new();
+            Span<byte> sHeader = new(&header, ThreeDimensionalFrameHeader.Size);
 
-                    streamWriter.WriteLine(string.Join(',', stringArray));
-                }
+            byte[] measurementsArray = ArrayPool<byte>.Shared.Rent(800 * InterferometricMeasurement.Size);
+            fixed (byte* reset = &measurementsArray[0])
+            {
+                for (int i = 0; i < frames3DLength; i++)
+                {
+                    int frame3DIndex = frames3D[i];
+                    IFrame frame = frames[frame3DIndex];
+                    GeoPoint augmentedCoordinate = augmentedCoordinates[frame3DIndex];
 
-                // TODO: Add Angle & Distance:
-                if (includeUnreliable) {
-                    stringArray[4] = "U";
-                    limit = measurements + header.NumberOfUnreliableLeftBytes;
-                    for (; measurements < limit; measurements += InterferometricMeasurement.Size) {
+                    SeekExactly(frame.DataOffset);
+                    ReadExactly(sHeader);
+                    ReadExactly(new(reset, header.NumberOfUsedBytes));
+                    byte* measurements = reset;
+
+                    double centralX = augmentedCoordinate.X,
+                           centralY = augmentedCoordinate.Y,
+                           centralZ = .3048 * augmentedCoordinate.Altitude;
+
+                    (double sin, double cos) =
+                        double.SinCos((magneticHeading ? frame.MagneticHeading : frame.GNSSHeading) - .5 * double.Pi);
+
+                    stringArray[0] = frame.CampaignID.ToString();
+                    stringArray[1] = frame.Timestamp.ToString("yyyy'-'MM'-'dd HH':'mm':'ss.fff'Z'", invariantCulture);
+                    stringArray[8] = "R";
+
+                    // *************************** THIS IS TERRIBLE ***************************
+                    // *************************** Refactor    ASAP ***************************
+                    // Left side
+                    for (byte* limit = measurements + header.NumberOfLeftBytes;
+                        measurements < limit;
+                        measurements += InterferometricMeasurement.Size)
+                    {
                         InterferometricMeasurement* measurement = (InterferometricMeasurement*)measurements;
-                        double delta = measurement->Delta;
-                        if (delta is < 0.001 or > 5000.0) continue;
-                        double depth = measurement->Depth;
-                        if (depth is < 1 or > 250.0) continue;
+                        double delta = measurement->Delta,
+                               depth = measurement->Depth;
+                        double distance = .3048 * double.Hypot(delta, depth);
+                        double angle = 90 - (360 / double.Tau) * double.Atan2(depth, delta);
 
-                        delta *= -.3048; // Negative side
+                        delta *= -.3048; // Negative side 
 
-                        stringArray[1] = double.FusedMultiplyAdd(delta, sin, centralX).ToString(doubleFormat, invariantCulture); // Azimuthal direction
-                        stringArray[2] = double.FusedMultiplyAdd(delta, cos, centralY).ToString(doubleFormat, invariantCulture);
-                        stringArray[3] = double.FusedMultiplyAdd(-.3048, depth, centralZ).ToString(doubleFormat, invariantCulture);
+                        stringArray[2] = double.FusedMultiplyAdd(delta, sin, centralX).ToString(doubleFormat, invariantCulture); // Azimuthal direction
+                        stringArray[3] = double.FusedMultiplyAdd(delta, cos, centralY).ToString(doubleFormat, invariantCulture);
+                        stringArray[4] = double.FusedMultiplyAdd(-.3048, depth, centralZ).ToString(doubleFormat, invariantCulture);
+                        stringArray[5] = (.3048 * depth).ToString(doubleFormat, invariantCulture);
+                        stringArray[6] = angle.ToString(doubleFormat, invariantCulture);
+                        stringArray[7] = distance.ToString(doubleFormat, invariantCulture);
 
                         streamWriter.WriteLine(string.Join(',', stringArray));
                     }
 
-                    limit = measurements + header.NumberOfUnreliableRightBytes;
-                    for (; measurements < limit; measurements += InterferometricMeasurement.Size) {
+                    // Right side
+                    for (byte* limit = measurements + header.NumberOfRightBytes;
+                        measurements < limit;
+                        measurements += InterferometricMeasurement.Size)
+                    {
                         InterferometricMeasurement* measurement = (InterferometricMeasurement*)measurements;
-                        double delta = measurement->Delta;
-                        if (delta is < 0.001 or > 5000.0) continue;
-                        double depth = measurement->Depth;
-                        if (depth is < 1 or > 250.0) continue;
+                        double delta = measurement->Delta,
+                               depth = measurement->Depth;
+                        double distance = .3048 * double.Hypot(delta, depth);
+                        double angle = 90 - (360 / double.Tau) * double.Atan2(depth, delta);
 
-                        delta *= .3048; // Positive side
+                        delta *= .3048; // Positive side 
 
-                        stringArray[1] = double.FusedMultiplyAdd(delta, sin, centralX).ToString(doubleFormat, invariantCulture); // Azimuthal direction
-                        stringArray[2] = double.FusedMultiplyAdd(delta, cos, centralY).ToString(doubleFormat, invariantCulture);
-                        stringArray[3] = double.FusedMultiplyAdd(-.3048, depth, centralZ).ToString(doubleFormat, invariantCulture);
+                        stringArray[2] = double.FusedMultiplyAdd(delta, sin, centralX).ToString(doubleFormat, invariantCulture); // Azimuthal direction
+                        stringArray[3] = double.FusedMultiplyAdd(delta, cos, centralY).ToString(doubleFormat, invariantCulture);
+                        stringArray[4] = double.FusedMultiplyAdd(-.3048, depth, centralZ).ToString(doubleFormat, invariantCulture);
+                        stringArray[5] = (.3048 * depth).ToString(doubleFormat, invariantCulture);
+                        stringArray[6] = angle.ToString(doubleFormat, invariantCulture);
+                        stringArray[7] = distance.ToString(doubleFormat, invariantCulture);
 
                         streamWriter.WriteLine(string.Join(',', stringArray));
                     }
+
+                    if (includeUnreliable)
+                    {
+                        stringArray[8] = "U";
+                        for (byte* limit = measurements + header.NumberOfUnreliableLeftBytes;
+                            measurements < limit;
+                            measurements += InterferometricMeasurement.Size)
+                        {
+                            InterferometricMeasurement* measurement = (InterferometricMeasurement*)measurements;
+                            if (IsValidMeasurement(measurement, out double delta, out double depth))
+                            {
+                                double distance = .3048 * double.Hypot(delta, depth);
+                                double angle = 90 - (360 / double.Tau) * double.Atan2(depth, delta);
+
+                                delta *= -.3048; // Negative side 
+
+                                stringArray[2] = double.FusedMultiplyAdd(delta, sin, centralX).ToString(doubleFormat, invariantCulture); // Azimuthal direction
+                                stringArray[3] = double.FusedMultiplyAdd(delta, cos, centralY).ToString(doubleFormat, invariantCulture);
+                                stringArray[4] = double.FusedMultiplyAdd(-.3048, depth, centralZ).ToString(doubleFormat, invariantCulture);
+                                stringArray[5] = (.3048 * depth).ToString(doubleFormat, invariantCulture);
+                                stringArray[6] = angle.ToString(doubleFormat, invariantCulture);
+                                stringArray[7] = distance.ToString(doubleFormat, invariantCulture);
+
+                                streamWriter.WriteLine(string.Join(',', stringArray));
+                            }
+                        }
+
+                        for (byte* limit = measurements + header.NumberOfUnreliableRightBytes;
+                            measurements < limit;
+                            measurements += InterferometricMeasurement.Size)
+                        {
+                            InterferometricMeasurement* measurement = (InterferometricMeasurement*)measurements;
+                            if (IsValidMeasurement(measurement, out double delta, out double depth))
+                            {
+                                double distance = .3048 * double.Hypot(delta, depth);
+                                double angle = 90 - (360 / double.Tau) * double.Atan2(depth, delta);
+
+                                delta *= .3048; // Positive side 
+
+                                stringArray[2] = double.FusedMultiplyAdd(delta, sin, centralX).ToString(doubleFormat, invariantCulture); // Azimuthal direction
+                                stringArray[3] = double.FusedMultiplyAdd(delta, cos, centralY).ToString(doubleFormat, invariantCulture);
+                                stringArray[4] = double.FusedMultiplyAdd(-.3048, depth, centralZ).ToString(doubleFormat, invariantCulture);
+                                stringArray[5] = (.3048 * depth).ToString(doubleFormat, invariantCulture);
+                                stringArray[6] = angle.ToString(doubleFormat, invariantCulture);
+                                stringArray[7] = distance.ToString(doubleFormat, invariantCulture);
+
+                                streamWriter.WriteLine(string.Join(',', stringArray));
+                            }
+                        }
+                    }
                 }
+            }
+            ArrayPool<byte>.Shared.Return(measurementsArray);
 
-                measurements = reset;
+            [SkipLocalsInit]
+            static bool IsValidMeasurement(InterferometricMeasurement* measurement, out double delta, out double depth)
+            {
+                delta = measurement->Delta;
+                depth = measurement->Depth;
+                return delta is not < 0.001 and not > 5000.0 && depth is not < 1 and not > 250.0;
             }
-            streamWriter.Close();
         }
 
         [SkipLocalsInit, MethodImpl(MethodImplOptions.AggressiveInlining)]
-        internal void SeekExactly(long offset) {
+        internal void SeekExactly(long offset)
+        {
             if (Seek(offset, SeekOrigin.Begin) != offset)
                 throw new IOException("Unable to seek!");
         }
 
-        internal void AugmentTrajectory() {
+        internal void AugmentTrajectory()
+        {
             const double lim = 1.2d;
             const double C = 1.4326d; // Empirical, around √2.
 
@@ -385,7 +445,8 @@ internal void AugmentTrajectory() {
             coordinates.Add(new(x0, y0, d0, z0));
 
 
-            for (int i = 1; i < frameCount; i++) {
+            for (int i = 1; i < frameCount; i++)
+            {
                 IFrame frame = frames[i];
                 (double x1, double y1, double z1, double v1, double t1, double d1) =
                     frame.QueryMetric();
@@ -405,7 +466,8 @@ internal void AugmentTrajectory() {
                 d0 = d1; t0 = t1; v0 = v1;
 
                 if (frame.SurveyType is SurveyType.Primary or SurveyType.Secondary or
-                    SurveyType.Unknown7 or SurveyType.Unknown8) {
+                    SurveyType.Unknown7 or SurveyType.Unknown8)
+                {
 
                     double dy = y0 - y1;
                     if (double.Abs(dy) > lim)
@@ -430,7 +492,8 @@ private IEnumerator<IFrame> GetSL3Enumerator() =>
         [MethodImpl(MethodImplOptions.AggressiveInlining)]
         IEnumerator IEnumerable.GetEnumerator() => GetSL3Enumerator();
 
-        public readonly struct Enumerator : IEnumerator<IFrame>, IEnumerator {
+        public readonly struct Enumerator : IEnumerator<IFrame>, IEnumerator
+        {
             private readonly SL3Reader source;
             private readonly unsafe Frame* pCurrent;
             private readonly long fileLength;
@@ -438,7 +501,8 @@ private IEnumerator<IFrame> GetSL3Enumerator() =>
             readonly unsafe object IEnumerator.Current => *pCurrent;
 
             [SkipLocalsInit]
-            public unsafe Enumerator(SL3Reader source) {
+            public unsafe Enumerator(SL3Reader source)
+            {
                 bool lockTaken = false;
 
                 Monitor.Enter(source, ref lockTaken);
@@ -456,14 +520,16 @@ public unsafe Enumerator(SL3Reader source) {
             }
 
             [MethodImpl(MethodImplOptions.AggressiveInlining)]
-            private unsafe readonly void InitTimestamp() {
+            private unsafe readonly void InitTimestamp()
+            {
                 source.ReadExactly(new(pCurrent, Frame.MinimumInitSize)); // We won't have to read the whole
                                                                           // frame: just till the end of pCurrent->HardwareTime.
                 Frame.InitTimestampBase(pCurrent->HardwareTime);
             }
 
             [SkipLocalsInit]
-            unsafe readonly bool IEnumerator.MoveNext() {
+            unsafe readonly bool IEnumerator.MoveNext()
+            {
                 Frame* currentFrame = pCurrent;
                 SL3Reader stream = source;
 
@@ -474,7 +540,8 @@ unsafe readonly bool IEnumerator.MoveNext() {
 
             [MethodImpl(MethodImplOptions.AggressiveInlining)]
             public readonly void Reset() => source.SeekExactly(SLFileHeader.Size);
-            unsafe void IDisposable.Dispose() {
+            unsafe void IDisposable.Dispose()
+            {
                 Monitor.Exit(source);
                 AlignedFree(pCurrent);
             }