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absorption coefficient approximation attenuation coefficient attenuation lengths axis backscatter sensor calculated calibration camera circularly-polarized circularly-polarized light component cylinder depth detector diameter dinoflagellates dipoles distance downwelling dynamic range effects equation experimental TVI system filter gate width geometry i i i illumination incident instrument integral intensity interface irradiance isotropic isotropic source Lambertian laser radar laser scanner lens light scattering marine matrix elements measurements micans modulation transfer function Mueller matrix normalized object obtained Ocean Optics optical properties output parameters perturbed photocathode photons pixel point spread function polarization pulse radiance distribution radiative transfer range-gated range-gated imaging receiver reflectance map resolution sample scan angle Scattering Angle scattering coefficient scattering phase function seawater shown in figure shows simulate small-angle small-angle approximation spectral SRI International submerged reflectance surface target plane technique underwater imaging systems upwelling values varied Visibility volume scattering function wavelength