The objective of this topic is to develop applied research towards a low cost and compact Laser interferometric Detection and Ranging (LiDAR) system for rapid clearance of undersea terrain and checkout by divers and vessel operators. To this end, this effort is developing a compact, low-cost LiDAR package for available Government Furnished Equipment (GFE) Unmanned Undersea Vehicle (UUV) systems that can be utilized for offboard collection and inspection of the entire water column, particularly in ports, harbors and confined waterspaces.