Abstract: NASAs Ice, Cloud, and land Elevation Satellite (ICESat), which operated between 2003 and 2009, made the first satellite-based global lidar measurement of earths ice sheet elevations, sea-ice thickness, and vegetation canopy structure. The primary instrument on ICESat was the Geoscience Laser Altimeter System (GLAS), which measured the distance from the spacecraft to the earth’s surface via the roundtrip travel time of individual laser pulses. GLAS utilized pulsed lasers and a direct detection…