This technology is a novel underwater light detection and ranging (LiDAR) system with several transmitters that can be tuned for specific wavelengths along with several receivers that measure both fine spatial and temporal resolution of the light received. It includes an algorithm that inverts and corrects the recorded two-dimensional arrays of backscatter profiles into accurate beam attenuation coefficients and properties at each wavelength. This allows for clear imaging even when optical densities are significantly lower while, at the same time, allowing primary processing to occur on-board the system. This technology would find the most application in oceanographic applications, like underwater imaging, optical communications, underwater object detection and tracking, sensing and domain awareness, environmental monitoring and ecological health assessment.