This chapter details the various data processing steps used to retrieve useful data from the lidar waveform (other than depth of an individual pulse). The introductory section describes the sequence of coordinate transformations and translations required to produce a georeferenced lidar point cloud. The next section presents a general approach to the inverse problem of lidar waveform processing with the goal of retrieving inherent optical properties (IOPs) of seawater, followed by a sections discussing retrieval of the water diffuse attenuation coefficient and the estimate of bottom reflectance at the lidar wavelength. The final section is a discussion of the effects of forward scattering on the shape and position of the surface reflection and bottom pulse.