Upper mantle structure of Mars from InSight seismic data

Glacial isostatic adjustment reveals Mars's interior viscosity structure

Investigating glacial isostatic adjustment has been the standard method to decipher Earth's interior viscosity structure1,2, but such an approach has been rarely applied to other planets because of a lack of observational data3,4. The north polar cap of Mars is the only millions-of-years-old surface feature that can induce measurable surface deformation on this planet, thereby holding clues to its present-day internal viscosity structure5,6. Here we investigate the emplacement of this ice cap by combining thermal evolution models7, viscoelastic deformation calculations8 and radar observations6. We show that downward motion of the northern regions is ongoing and can be constrained by analyses of the time-variable gravity field9 and NASA's InSight seismic moment rate10. Only models with present-day high viscosities (2-6 × 1022 Pa s for depths greater than 500 km), strong mantle depletion in radiogenic elements (more than 90%) and thick average crusts (thicker than 40 km) are consistent with the negligible flexure beneath the polar cap seen by radars. The northern lithosphere must deform at less than 0.13 mm per year and have a seismic efficiency less than 0.3 to satisfy gravity and seismic constraints, respectively. Our models show that the north polar cap formed over the last 1.7-12.0 Myr and that glacial isostatic adjustment can be further constrained by future gravity recovery missions to Mars11,12.

Exploring beyond Earth using space robotics

Robotic spacecraft enable exploration of our Solar System beyond our human presence. Although spacecraft have explored every planet in the Solar System, the frontiers of space robotics are at the cutting edge of landers, rovers, and now atmospheric explorers, where robotic spacecraft must interact intimately with their environment to explore beyond the reach of flyby and orbital remote sensing. Here, we describe the tremendous growth in space robotics missions in the past 7 years, with many new entities participating in missions to the surface of the Moon, Mars, and beyond. We also describe the recent development of aerial missions to planets and moons, as exemplified by the Ingenuity helicopter on Mars and the Dragonfly mission to Titan. We focus on suborbital robotics-landers, rovers, and aerial vehicles-with associated challenges in sensing, manipulation, mobility, and system-level autonomy.

Evidence for a liquid silicate layer atop the Martian core

Seismic recordings made during the InSight mission1 suggested that Mars's liquid core would need to be approximately 27% lighter than pure liquid iron2,3, implying a considerable complement of light elements. Core compositions based on seismic and bulk geophysical constraints, however, require larger quantities of the volatile elements hydrogen, carbon and sulfur than those that were cosmochemically available in the likely building blocks of Mars4. Here we show that multiply diffracted P waves along a stratified core-mantle boundary region of Mars in combination with first-principles computations of the thermoelastic properties of liquid iron-rich alloys3 require the presence of a fully molten silicate layer overlying a smaller, denser liquid core. Inverting differential body wave travel time data with particular sensitivity to the core-mantle boundary region suggests a decreased core radius of 1,675 ± 30 km associated with an increased density of 6.65 ± 0.1 g cm-3, relative to previous models2,4-8, while the thickness and density of the molten silicate layer are 150 ± 15 km and 4.05 ± 0.05 g cm-3, respectively. The core properties inferred here reconcile bulk geophysical and cosmochemical requirements, consistent with a core containing 85-91 wt% iron-nickel and 9-15 wt% light elements, chiefly sulfur, carbon, oxygen and hydrogen. The chemical characteristics of a molten silicate layer above the core may be revealed by products of Martian magmatism.

Geophysical evidence for an enriched molten silicate layer above Mars's core

The detection of deep reflected S waves on Mars inferred a core size of 1,830 ± 40 km (ref. 1), requiring light-element contents that are incompatible with experimental petrological constraints. This estimate assumes a compositionally homogeneous Martian mantle, at odds with recent measurements of anomalously slow propagating P waves diffracted along the core-mantle boundary2. An alternative hypothesis is that Mars's mantle is heterogeneous as a consequence of an early magma ocean that solidified to form a basal layer enriched in iron and heat-producing elements. Such enrichment results in the formation of a molten silicate layer above the core, overlain by a partially molten layer3. Here we show that this structure is compatible with all geophysical data, notably (1) deep reflected and diffracted mantle seismic phases, (2) weak shear attenuation at seismic frequency and (3) Mars's dissipative nature at Phobos tides. The core size in this scenario is 1,650 ± 20 km, implying a density of 6.5 g cm-3, 5-8% larger than previous seismic estimates, and can be explained by fewer, and less abundant, alloying light elements than previously required, in amounts compatible with experimental and cosmochemical constraints. Finally, the layered mantle structure requires external sources to generate the magnetic signatures recorded in Mars's crust.

Synergies Between Venus & Exoplanetary Observations: Venus and Its Extrasolar Siblings

Here we examine how our knowledge of present day Venus can inform terrestrial exoplanetary science and how exoplanetary science can inform our study of Venus. In a superficial way the contrasts in knowledge appear stark. We have been looking at Venus for millennia and studying it via telescopic observations for centuries. Spacecraft observations began with Mariner 2 in 1962 when we confirmed that Venus was a hothouse planet, rather than the tropical paradise science fiction pictured. As long as our level of exploration and understanding of Venus remains far below that of Mars, major questions will endure. On the other hand, exoplanetary science has grown leaps and bounds since the discovery of Pegasus 51b in 1995, not too long after the golden years of Venus spacecraft missions came to an end with the Magellan Mission in 1994. Multi-million to billion dollar/euro exoplanet focused spacecraft missions such as JWST, and its successors will be flown in the coming decades. At the same time, excitement about Venus exploration is blooming again with a number of confirmed and proposed missions in the coming decades from India, Russia, Japan, the European Space Agency (ESA) and the National Aeronautics and Space Administration (NASA). Here we review what is known and what we may discover tomorrow in complementary studies of Venus and its exoplanetary cousins.

Observational constraints on the process and products of Martian serpentinization

The alteration of olivine-rich rocks to serpentine minerals, (hydr)oxides, and aqueous hydrogen through serpentinization is long thought to have influenced the distribution of habitable environments on early Mars and the evolution of the early Martian hydrosphere and atmosphere. Nevertheless, the planetary importance of Martian serpentinization has remained a matter of debate. To constrain the process and products of Martian serpentinization, we studied serpentinized iron-rich olivines from the 1.1-billion-year Duluth Complex. These data indicate that serpentinized iron-rich olivine would have been accompanied by a fivefold increase in hydrogen production relative to serpentinized terrestrial mantle peridotites. In contrast to previous expectations, this style of serpentinization yields hisingerite as the dominant iron serpentine mineral at comparatively low temperature and pH, consistent with meteorite mineralogy and in situ rover data. The widespread occurrence of oxidized iron-bearing phyllosilicates in highly magnetized regions of the Martian crust supports the hypothesis that serpentinization was more pervasive on early Mars than currently estimated.

The InSight HP3 Penetrator (Mole) on Mars: Soil Properties Derived from the Penetration Attempts and Related Activities

The NASA InSight Lander on Mars includes the Heat Flow and Physical Properties Package HP3 to measure the surface heat flow of the planet. The package uses temperature sensors that would have been brought to the target depth of 3-5 m by a small penetrator, nicknamed the mole. The mole requiring friction on its hull to balance remaining recoil from its hammer mechanism did not penetrate to the targeted depth. Instead, by precessing about a point midway along its hull, it carved a 7 cm deep and 5-6 cm wide pit and reached a depth of initially 31 cm. The root cause of the failure - as was determined through an extensive, almost two years long campaign - was a lack of friction in an unexpectedly thick cohesive duricrust. During the campaign - described in detail in this paper - the mole penetrated further aided by friction applied using the scoop at the end of the robotic Instrument Deployment Arm and by direct support by the latter. The mole tip finally reached a depth of about 37 cm, bringing the mole back-end 1-2 cm below the surface. It reversed its downward motion twice during attempts to provide friction through pressure on the regolith instead of directly with the scoop to the mole hull. The penetration record of the mole was used to infer mechanical soil parameters such as the penetration resistance of the duricrust of 0.3-0.7 MPa and a penetration resistance of a deeper layer ( > 30 cm depth) of 4.9 ± 0.4 MPa . Using the mole's thermal sensors, thermal conductivity and diffusivity were measured. Applying cone penetration theory, the resistance of the duricrust was used to estimate a cohesion of the latter of 2-15 kPa depending on the internal friction angle of the duricrust. Pushing the scoop with its blade into the surface and chopping off a piece of duricrust provided another estimate of the cohesion of 5.8 kPa. The hammerings of the mole were recorded by the seismometer SEIS and the signals were used to derive P-wave and S-wave velocities representative of the topmost tens of cm of the regolith. Together with the density provided by a thermal conductivity and diffusivity measurement using the mole's thermal sensors, the elastic moduli were calculated from the seismic velocities. Using empirical correlations from terrestrial soil studies between the shear modulus and cohesion, the previous cohesion estimates were found to be consistent with the elastic moduli. The combined data were used to derive a model of the regolith that has an about 20 cm thick duricrust underneath a 1 cm thick unconsolidated layer of sand mixed with dust and above another 10 cm of unconsolidated sand. Underneath the latter, a layer more resistant to penetration and possibly containing debris from a small impact crater is inferred. The thermal conductivity increases from 14 mW/m K to 34 mW/m K through the 1 cm sand/dust layer, keeps the latter value in the duricrust and the sand layer underneath and then increases to 64 mW/m K in the sand/gravel layer below.

Supplementary Information

The online version contains supplementary material available at 10.1007/s11214-022-00941-z.

A Positive Feedback Between Crustal Thickness and Melt Extraction for the Origin of the Martian Dichotomy

A North/South difference in crustal thickness is likely at the origin of the Martian dichotomy in topography. Recent crustal thickness maps were obtained by inversion of topography and gravity data seismically anchored at the InSight station. On average, the Martian crust is 51-71 km thick with a southern crust thicker by 18-28 km than the northern one. The origin of this crustal dichotomy is still debated although the hypothesis of a large impact is at present very popular. Here, we propose a new mechanism for the formation of this dichotomy that involves a positive feedback between crustal growth and mantle melting. As the crust is enriched in heat-producing elements, the lid of a one-plate planet is hotter and thinner where the crust is thicker, inducing a larger amount of partial melt below the lid and hence a larger rate of melt extraction and crustal growth. We first demonstrate analytically that larger wavelength perturbations, that is, hemispherical perturbations, grow faster because smaller wavelengths are more attenuated by thermal diffusion. We then use a parameterized thermal evolution model with a well-mixed mantle topped by two different lids characterized by their thermal structures and thicknesses to study the growth of the crust in the two hemispheres. Our results demonstrate that this positive feedback can generate a significant crustal dichotomy.

Late delivery of exotic chromium to the crust of Mars by water-rich carbonaceous asteroids

The terrestrial planets endured a phase of bombardment following their accretion, but the nature of this late accreted material is debated, preventing a full understanding of the origin of inner solar system volatiles. We report the discovery of nucleosynthetic chromium isotope variability (μ⁵⁴Cr) in Martian meteorites that represent mantle-derived magmas intruded in the Martian crust. The μ⁵⁴Cr variability, ranging from -33.1 ± 5.4 to +6.8 ± 1.5 parts per million, correlates with magma chemistry such that samples having assimilated crustal material define a positive μ⁵⁴Cr endmember. This compositional endmember represents the primordial crust modified by impacting outer solar system bodies of carbonaceous composition. Late delivery of this volatile-rich material to Mars provided an exotic water inventory corresponding to a global water layer >300 meters deep, in addition to the primordial water reservoir from mantle outgassing. This carbonaceous material may also have delivered a source of biologically relevant molecules to early Mars.

Surface waves and crustal structure on Mars

We detected surface waves from two meteorite impacts on Mars. By measuring group velocity dispersion along the impact-lander path, we obtained a direct constraint on crustal structure away from the InSight lander. The crust north of the equatorial dichotomy had a shear wave velocity of approximately 3.2 kilometers per second in the 5- to 30-kilometer depth range, with little depth variation. This implies a higher crustal density than inferred beneath the lander, suggesting either compositional differences or reduced porosity in the volcanic areas traversed by the surface waves. The lower velocities and the crustal layering observed beneath the landing site down to a 10-kilometer depth are not a global feature. Structural variations revealed by surface waves hold implications for models of the formation and thickness of the martian crust.

Largest recent impact craters on Mars: Orbital imaging and surface seismic co-investigation

Two >130-meter-diameter impact craters formed on Mars during the later half of 2021. These are the two largest fresh impact craters discovered by the Mars Reconnaissance Orbiter since operations started 16 years ago. The impacts created two of the largest seismic events (magnitudes greater than 4) recorded by InSight during its 3-year mission. The combination of orbital imagery and seismic ground motion enables the investigation of subsurface and atmospheric energy partitioning of the impact process on a planet with a thin atmosphere and the first direct test of martian deep-interior seismic models with known event distances. The impact at 35°N excavated blocks of water ice, which is the lowest latitude at which ice has been directly observed on Mars.

A seismic meteor strike on Mars

A meteor impact and its subsequent seismic waves reveal the crustal structure of Mars

Seismic detection of a deep mantle discontinuity within Mars by InSight

The depth and sharpness of a midmantle seismic discontinuity, associated with the phase transition from mineral olivine to its higher-pressure polymorphs, provide essential clues to understanding the temperature and composition of Martian mantle. Using data from NASA’s InSight mission, we examined five marsquakes located 3,400 to 4,400 km away from the InSight lander and observed triplications of the P and S waves that resulted from the interaction with a seismic discontinuity produced by the postolivine transition. Our observations indicate that the Martian mantle is more iron rich than Earth,and both planets have a similar potential temperature. Our geodynamic modeling further constrains the mantle composition and surface heat flow and indicates that the mantle was cold in the early Noachian.

Constraining the thermal and compositional state of the mantle is crucial for deciphering the formation and evolution of Mars. Mineral physics predicts that Mars’ deep mantle is demarcated by a seismic discontinuity arising from the pressure-induced phase transformation of the mineral olivine to its higher-pressure polymorphs, making the depth of this boundary sensitive to both mantle temperature and composition. Here, we report on the seismic detection of a midmantle discontinuity using the data collected by NASA’s InSight Mission to Mars that matches the expected depth and sharpness of the postolivine transition. In five teleseismic events, we observed triplicated P and S waves and constrained the depth of this discontinuity to be 1,006 ± 40 km by modeling the triplicated waveforms. From this depth range, we infer a mantle potential temperature of 1,605 ± 100 K, a result consistent with a crust that is 10 to 15 times more enriched in heat-producing elements than the underlying mantle. Our waveform fits to the data indicate a broad gradient across the boundary, implying that the Martian mantle is more enriched in iron compared to Earth. Through modeling of thermochemical evolution of Mars, we observe that only two out of the five proposed composition models are compatible with the observed boundary depth. Our geodynamic simulations suggest that the Martian mantle was relatively cold 4.5 Gyr ago (1,720 to 1,860 K) and are consistent with a present-day surface heat flow of 21 to 24 mW/m².

In Situ Regolith Seismic Velocity Measurement at the InSight Landing Site on Mars

Interior exploration using Seismic Investigations, Geodesy and Heat Transport's (InSight) seismometer package Seismic Experiment for Interior Structure (SEIS) was placed on the surface of Mars at about 1.2 m distance from the thermal properties instrument Heat flow and Physical Properties Package (HP3) that includes a self-hammering probe. Recording the hammering noise with SEIS provided a unique opportunity to estimate the seismic wave velocities of the shallow regolith at the landing site. However, the value of studying the seismic signals of the hammering was only realized after critical hardware decisions were already taken. Furthermore, the design and nominal operation of both SEIS and HP3 are nonideal for such high-resolution seismic measurements. Therefore, a series of adaptations had to be implemented to operate the self-hammering probe as a controlled seismic source and SEIS as a high-frequency seismic receiver including the design of a high-precision timing and an innovative high-frequency sampling workflow. By interpreting the first-arriving seismic waves as a P-wave and identifying first-arriving S-waves by polarization analysis, we determined effective P- and S-wave velocities ofv P = 11 9 - 21 + 45  m/s andv S = 6 3 - 7 + 11  m/s, respectively, from around 2,000 hammer stroke recordings. These velocities likely represent bulk estimates for the uppermost several 10s of cm of regolith. An analysis of the P-wave incidence angles provided an independent v P /v S ratio estimate of1.8 4 - 0.35 + 0.89 that compares well with the traveltime based estimate of1.8 6 - 0.25 + 0.42 . The low seismic velocities are consistent with those observed for low-density unconsolidated sands and are in agreement with estimates obtained by other methods.

Using MARSIS signal attenuation to assess the presence of South Polar Layered Deposit subglacial brines

Knowledge of the physical and thermal properties of the South Polar Layer Deposits (SPLD) is key to constrain the source of bright basal reflections at Ultimi Scopuli detected by the MARSIS (Mars Advanced Radar for Subsurface and Ionosphere Sounding) radar sounder. Here we present a detailed analysis of attenuation, based on data acquired by MARSIS at 3, 4, and 5 MHz. We show that attenuation is frequency dependent, and that its behavior is consistent throughout the entire region. This suggests that the SPLD are compositionally homogeneous at Ultimi Scopuli, and our results are consistent with dust contents of 5 to 12%. Using these values as input, and plausible estimates of surface temperature and heat flux, we inferred basal temperatures around 200 K: these are consistent with perchlorate brines within liquid vein networks as the source of the reflections. Furthermore, extrapolation of the attenuation to higher frequencies explains why SHARAD (Shallow Radar) has thus far not detected basal reflections within the SPLD at Ultimi Scopuli.

MARSIS attenuation and thermal data confirm that liquid brines are the most plausible source for the bright reflections at the base of the South Polar Layered Deposits. Such results also justify why SHARAD does not penetrate to the base of the ice.

Marsquake Locations and 1-D Seismic Models for Mars From InSight Data

We present inversions for the structure of Mars using the first Martian seismic record collected by the InSight lander. We identified and used arrival times of direct, multiples, and depth phases of body waves, for 17 marsquakes to constrain the quake locations and the one-dimensional average interior structure of Mars. We found the marsquake hypocenters to be shallower than 40 km depth, most of them being located in the Cerberus Fossae graben system, which could be a source of marsquakes. Our results show a significant velocity jump between the upper and the lower part of the crust, interpreted as the transition between intrusive and extrusive rocks. The lower crust makes up a significant fraction of the crust, with seismic velocities compatible with those of mafic to ultramafic rocks. Additional constraints on the crustal thickness from previous seismic analyses, combined with modeling relying on gravity and topography measurements, yield constraints on the present-day thermochemical state of Mars and on its long-term history. Our most constrained inversion results indicate a present-day surface heat flux of 22 ± 1 mW/m2, a relatively hot mantle (potential temperature: 1740 ± 90 K) and a thick lithosphere (540 ± 120 km), associated with a lithospheric thermal gradient of 1.9 ± 0.3 K/km. These results are compatible with recent seismic studies using a reduced data set and different inversion approaches, confirming that Mars' potential mantle temperature was initially relatively cold (1780 ± 50 K) compared to that of its present-day state, and that its crust contains 10-12 times more heat-producing elements than the primitive mantle.

Repetitive marsquakes in Martian upper mantle

Marsquakes excite seismic wavefield, allowing the Martian interior structures to be probed. However, the Martian seismic data recorded by InSight have a low signal-to-noise ratio, making the identification of marsquakes challenging. Here we use the Matched Filter technique and Benford’s Law to detect hitherto undetected events. Based on nine marsquake templates, we report 47 newly detected events, >90% of which are associated with the two high-quality events located beneath Cerberus Fossae. They occurred at all times of the Martian day, thus excluding the tidal modulation (e.g., Phobos) as their cause. We attribute the newly discovered, low-frequency, repetitive events to magma movement associated with volcanic activity in the upper mantle beneath Cerberus Fossae. The continuous seismicity suggests that Cerberus Fossae is seismically highly active and that the Martian mantle is mobile.

The authors detect 47 hitherto unreported low-frequency marsquakes originating from Cerberus Fossae at all times of the Martian day. The matched filter technique confirms repetitive events implying that the Martian mantle is dynamically active.

Scattering Attenuation of the Martian Interior through Coda Wave Analysis

We investigate the scattering attenuation characteristics of the Martian crust and uppermost mantle to understand the structure of the Martian interior. We examine the energy decay of the spectral envelopes for 21 high-quality Martian seismic events from Sol 128 to Sol 500 of InSight operations. We use the model of Dainty et al. (1974b) to approximate the behavior of energy envelopes resulting from scattered wave propagation through a single diffusive layer over an elastic half-space. Using a grid search, we mapped the layer parameters that fit the observed InSight data envelopes. The single diffusive layer model provided better fits to the observed energy envelopes for High Frequency (HF) and Very High Frequency (VF) than for the Low Frequency (LF) and Broadband (BB) events. This result is consistent with the suggested source depths (Giardini et al., 2020) for these families of events and their expected interaction with a shallow scattering layer. The shapes of the observed data envelopes do not show a consistent pattern with event distance, suggesting that the diffusivity and scattering layer thickness is non-uniform in the vicinity of InSight at Mars. Given the consistency in the envelope shapes between HF and VF events across epicentral distances and the tradeoffs between the parameters that control scattering, the dimensions of the scattering layer remain unconstrained but require that scattering strength decreases with depth and that the rate of decay in scattering strength is fastest near the surface. This is generally consistent with the processes that would form scattering structures in planetary lithospheres.

The Tharsis mantle source of depleted shergottites revealed by 90 million impact craters

The only martian rock samples on Earth are meteorites ejected from the surface of Mars by asteroid impacts. The locations and geological contexts of the launch sites are currently unknown. Determining the impact locations is essential to unravel the relations between the evolution of the martian interior and its surface. Here we adapt a Crater Detection Algorithm that compile a database of 90 million impact craters, allowing to determine the potential launch position of these meteorites through the observation of secondary crater fields. We show that Tooting and 09-000015 craters, both located in the Tharsis volcanic province, are the most likely source of the depleted shergottites ejected 1.1 million year ago. This implies that a major thermal anomaly deeply rooted in the mantle under Tharsis was active over most of the geological history of the planet, and has sampled a depleted mantle, that has retained until recently geochemical signatures of Mars' early history.

Improving Constraints on Planetary Interiors With PPs Receiver Functions

Seismological constraints obtained from receiver function (RF) analysis provide important information about the crust and mantle structure. Here, we explore the utility of the free-surface multiple of the P-wave (PP) and the corresponding conversions in RF analysis. Using earthquake records, we demonstrate the efficacy of PPs-RFs before illustrating how they become especially useful when limited data is available in typical planetary missions. Using a transdimensional hierarchical Bayesian deconvolution approach, we compute robust P-to-S (Ps)- and PPs-RFs with InSight recordings of five marsquakes. Our Ps-RF results verify the direct Ps converted phases reported by previous RF analyses with increased coherence and reveal other phases including the primary multiple reverberating within the uppermost layer of the Martian crust. Unlike the Ps-RFs, our PPs-RFs lack an arrival at 7.2 s lag time. Whereas Ps-RFs on Mars could be equally well fit by a two- or three-layer crust, synthetic modeling shows that the disappearance of the 7.2 s phase requires a three-layer crust, and is highly sensitive to velocity and thickness of intra-crustal layers. We show that a three-layer crust is also preferred by S-to-P (Sp)-RFs. While the deepest interface of the three-layer crust represents the crust-mantle interface beneath the InSight landing site, the other two interfaces at shallower depths could represent a sharp transition between either fractured and unfractured materials or thick basaltic flows and pre-existing crustal materials. PPs-RFs can provide complementary constraints and maximize the extraction of information about crustal structure in data-constrained circumstances such as planetary missions.

Potential Pitfalls in the Analysis and Structural Interpretation of Seismic Data from the Mars InSight Mission

The Seismic Experiment for Interior Structure (SEIS) of the InSight mission to Mars, has been providing direct information on Martian interior structure and dynamics of that planet since it landed. Compared to seismic recordings on Earth, ground motion measurements acquired by SEIS on Mars are made under dramatically different ambient noise conditions, but include idiosyncratic signals that arise from coupling between different InSight sensors and spacecraft components. This work is to synthesize what is known about these signal types, illustrate how they can manifest in waveforms and noise correlations, and present pitfalls in structural interpretations based on standard seismic analysis methods. We show that glitches, a type of prominent transient signal, can produce artifacts in ambient noise correlations. Sustained signals that vary in frequency, such as lander modes which are affected by variations in temperature and wind conditions over the course of the Martian Sol, can also contaminate ambient noise results. Therefore, both types of signals have the potential to bias interpretation in terms of subsurface layering. We illustrate that signal processing in the presence of identified nonseismic signals must be informed by an understanding of the underlying physical processes in order for high fidelity waveforms of ground motion to be extracted. While the origins of most idiosyncratic signals are well understood, the 2.4 Hz resonance remains debated and the literature does not contain an explanation of its fine spectral structure. Even though the selection of idiosyncratic signal types discussed in this paper may not be exhaustive, we provide guidance on best practices for enhancing the robustness of structural interpretations.

Seismic detection of the martian core

Clues to a planet's geologic history are contained in its interior structure, particularly its core. We detected reflections of seismic waves from the core-mantle boundary of Mars using InSight seismic data and inverted these together with geodetic data to constrain the radius of the liquid metal core to 1830 ± 40 kilometers. The large core implies a martian mantle mineralogically similar to the terrestrial upper mantle and transition zone but differing from Earth by not having a bridgmanite-dominated lower mantle. We inferred a mean core density of 5.7 to 6.3 grams per cubic centimeter, which requires a substantial complement of light elements dissolved in the iron-nickel core. The seismic core shadow as seen from InSight's location covers half the surface of Mars, including the majority of potentially active regions-e.g., Tharsis-possibly limiting the number of detectable marsquakes.

Thickness and structure of the martian crust from InSight seismic data

A planet's crust bears witness to the history of planetary formation and evolution, but for Mars, no absolute measurement of crustal thickness has been available. Here, we determine the structure of the crust beneath the InSight landing site on Mars using both marsquake recordings and the ambient wavefield. By analyzing seismic phases that are reflected and converted at subsurface interfaces, we find that the observations are consistent with models with at least two and possibly three interfaces. If the second interface is the boundary of the crust, the thickness is 20 ± 5 kilometers, whereas if the third interface is the boundary, the thickness is 39 ± 8 kilometers. Global maps of gravity and topography allow extrapolation of this point measurement to the whole planet, showing that the average thickness of the martian crust lies between 24 and 72 kilometers. Independent bulk composition and geodynamic constraints show that the thicker model is consistent with the abundances of crustal heat-producing elements observed for the shallow surface, whereas the thinner model requires greater concentration at depth.