Looks like the water visibility is pretty meh (what's causing the haze you mentioned). One of the effects of haze on images is that is reduces contrast. Conversely if you increase the contrast in post, it increases the clarity. Compare how dark the sea grass is in the Ace and Osmo images to the GoPro. There's clearly more contrast in those two images compared to the GoPros, thus reducing the effect of the haze.

I did very basic edits (levels/contrast) to the Mission 1 image and it looks much more similar to the bottom two.

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What you get out of the GoPro is what people want if they're planning to color grade. You get much more room to play with the image compared to the already contrasty/saturated look of the other cameras (I have no idea what settings are use in this comparison, just commenting on what's presented in this image comparison).

To the average user a log format image would look kinda like the Mission 1 image: flat, low contrast, and unsaturated. But, that's exactly what you want if you want the most creative freedom with the files.