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The planetary boundary layer height (PBLH) is an essential parameter for weather forecasting and climate modeling. The primary methods for obtaining the PBLH include radiosonde measurements of atmospheric parameters and lidar measurements, which track aerosol layers in the lower atmosphere. Radiosondes provide the parameters to determine the PBLH but cannot monitor changes over a diurnal cycle. Lidar instruments can track the temporal variability of the PBLH and account for spatial variability when operated in a network configuration. The networkable micropulse DIAL (MPD) instruments for thermodynamic profiling are based on diode-laser technology that is eye-safe and cost-effective and has demonstrated long-term autonomous operation. We present a retrieval algorithm for determining the PBLH from the quantitative aerosol profiling capability of the high spectral resolution channel of the MPD. The PBLH is determined using a Haar wavelet transform (HWT) method that tracks aerosol layers in the lower atmosphere. The PBLH from the lidar is compared with the PBLH determined from potential temperature profiles from radiosondes. In many cases, good agreement among the PBLH retrievals was seen. However, the radiosonde retrieval often missed the lowest inversion layer when several layers were present, while the HWT could track the lowest layer.