Spin state and deep interior structure of Mars from InSight radio tracking.

Knowledge of the interior structure and atmosphere of Mars is essential to understanding how the planet has formed and evolved. A major obstacle to investigations of planetary interiors, however, is that they are not directly accessible. Most of the geophysical data provide global information that cannot be separated into contributions from the core, the mantle and the crust. The NASA InSight mission changed this situation by providing high-quality seismic and lander radio science data1,2. Here we use the InSight's radio science data to determine fundamental properties of the core, mantle and atmosphere of Mars. By precisely measuring the rotation of the planet, we detected a resonance with a normal mode that allowed us to characterize the core and mantle separately. For an entirely solid mantle, we found that the liquid core has a radius of 1,835 ± 55 km and a mean density of 5,955-6,290 kg m-3, and that the increase in density at the core-mantle boundary is 1,690-2,110 kg m-3. Our analysis of InSight's radio tracking data argues against the existence of a solid inner core and reveals the shape of the core, indicating that there are internal mass anomalies deep within the mantle. We also find evidence of a slow acceleration in the Martian rotation rate, which could be the result of a long-term trend either in the internal dynamics of Mars or in its atmosphere and ice caps.

First observations of core-transiting seismic phases on Mars.

We present the first observations of seismic waves propagating through the core of Mars. These observations, made using seismic data collected by the InSight geophysical mission, have allowed us to construct the first seismically constrained models for the elastic properties of Mars' core. We observe core-transiting seismic phase SKS from two farside seismic events detected on Mars and measure the travel times of SKS relative to mantle traversing body waves. SKS travels through the core as a compressional wave, providing information about bulk modulus and density. We perform probabilistic inversions using the core-sensitive relative travel times together with gross geophysical data and travel times from other, more proximal, seismic events to seek the equation of state parameters that best describe the liquid iron-alloy core. Our inversions provide constraints on the velocities in Mars' core and are used to develop the first seismically based estimates of its composition. We show that models informed by our SKS data favor a somewhat smaller (median core radius = 1,780 to 1,810 km) and denser (core density = 6.2 to 6.3 g/cm3) core compared to previous estimates, with a P-wave velocity of 4.9 to 5.0 km/s at the core-mantle boundary, with the composition and structure of the mantle as a dominant source of uncertainty. We infer from our models that Mars' core contains a median of 20 to 22 wt% light alloying elements when we consider sulfur, oxygen, carbon, and hydrogen. These data can be used to inform models of planetary accretion, composition, and evolution.

The rheology and thermal history of Mars revealed by the orbital evolution of Phobos.

The evolution and internal structure of Mars are, by comparison to its present-day surface, poorly known-although evidence of recent volcanic activity1 suggests that its deep interior remains hot and convectively cooling. The cooling rate of Mars is related to its early thermal state and to its rheology, which determines its ability to deform and to dynamically evolve2. Attempts to reconstruct the dynamic history of Mars and reveal its present-day structure, by combining the study of thermal evolution with surface observations, are limited by the interplay between several key quantities-including temperature, composition and rheology. Here we show that by considering Phobos (the closest satellite of Mars)-the orbital evolution of which is governed by the thermochemical history of Mars, through tidal interactions-we can gain insight into the thermal history and rheology of the planet. We investigated the long-term evolution of the main envelopes of Mars; these comprise a liquid metallic core that is overlain by a homogeneous silicate convecting mantle underneath an evolving heterogeneous lithospheric lid that includes a crust enriched in radiogenic elements. By exploiting the relationship between Mars and Phobos within an established in situ scenario for the early origin of the moons of Mars3, we find that-initially-Mars was moderately hotter (100 to 200 kelvin) than it is today, and that its mantle sluggishly deforms in the dislocation creep regime. This corresponds to a reference viscosity of 1022.2 ± 0.5 pascal seconds and to a moderate to relatively weak intrinsic sensitivity of viscosity to temperature and pressure. Our approach predicts a present-day average crustal thickness of 40 ± 25 kilometres and a surface heat flow of 20 ± 1 milliwatts per square metre. We show that combining these predictions with data from future and ongoing space missions-such as InSight-could reduce uncertainties in Martian thermal and rheological histories, and help to uncover the origin of Phobos.

Seismic detection of a deep mantle discontinuity within Mars by InSight.

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 [Formula: see text] 40 km by modeling the triplicated waveforms. From this depth range, we infer a mantle potential temperature of 1,605 [Formula: see text] 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.

Underground Microseismic Event Monitoring and Localization within Sensor Networks.

Locating underground microseismic events is important for monitoring subsurface activity and understanding the planetary subsurface evolution. Due to bandwidth limitations, especially in applications involving planetarily-distributed sensor networks, networks should be designed to perform the localization algorithm in-situ, so that only the source location information needs to be sent out, not the raw data. In this paper, we propose a decentralized Gaussian beam time-reverse imaging (GB-TRI) algorithm that can be incorporated to the distributed sensors to detect and locate underground microseismic events with reduced usage of computational resources and communication bandwidth of the network. After the in-situ distributed computation, the final real-time location result is generated and delivered. We used a real-time simulation platform to test the performance of the system. We also evaluated the stability and accuracy of our proposed GB-TRI localization algorithm using extensive experiments and tests.

Upper mantle structure of Mars from InSight seismic data.

For 2 years, the InSight lander has been recording seismic data on Mars that are vital to constrain the structure and thermochemical state of the planet. We used observations of direct (P and S) and surface-reflected (PP, PPP, SS, and SSS) body-wave phases from eight low-frequency marsquakes to constrain the interior structure to a depth of 800 kilometers. We found a structure compatible with a low-velocity zone associated with a thermal lithosphere much thicker than on Earth that is possibly related to a weak S-wave shadow zone at teleseismic distances. By combining the seismic constraints with geodynamic models, we predict that, relative to the primitive mantle, the crust is more enriched in heat-producing elements by a factor of 13 to 20. This enrichment is greater than suggested by gamma-ray surface mapping and has a moderate-to-elevated surface heat flow.

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.

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.

Vital Signs: Seismology of Icy Ocean Worlds.

Ice-covered ocean worlds possess diverse energy sources and associated mechanisms that are capable of driving significant seismic activity, but to date no measurements of their seismic activity have been obtained. Such investigations could reveal the transport properties and radial structures, with possibilities for locating and characterizing trapped liquids that may host life and yielding critical constraints on redox fluxes and thus on habitability. Modeling efforts have examined seismic sources from tectonic fracturing and impacts. Here, we describe other possible seismic sources, their associations with science questions constraining habitability, and the feasibility of implementing such investigations. We argue, by analogy with the Moon, that detectable seismic activity should occur frequently on tidally flexed ocean worlds. Their ices fracture more easily than rocks and dissipate more tidal energy than the <1 GW of the Moon and Mars. Icy ocean worlds also should create less thermal noise due to their greater distance and consequently smaller diurnal temperature variations. They also lack substantial atmospheres (except in the case of Titan) that would create additional noise. Thus, seismic experiments could be less complex and less susceptible to noise than prior or planned planetary seismology investigations of the Moon or Mars. Key Words: Seismology-Redox-Ocean worlds-Europa-Ice-Hydrothermal. Astrobiology 18, 37-53.

Inferences on flow at the base of Earth's mantle based on seismic anisotropy.

We applied global waveform tomography to model radial anisotropy in the whole mantle. We found that in the last few hundred kilometers near the core-mantle boundary, horizontally polarized S-wave velocities (VSH) are, on average, faster (by approximately 1%) than vertically polarized S-wave velocities (VSV), suggesting a large-scale predominance of horizontal shear. This confirms that the D" region at the base of the mantle is also a mechanical boundary layer for mantle convection. A notable exception to this average signature can be found at the base of the two broad low-velocity regions under the Pacific Ocean and under Africa, often referred to as "superplumes," where the anisotropic pattern indicates the onset of vertical flow.

Global anisotropy and the thickness of continents.

For decades there has been a vigorous debate about the depth extent of continental roots. The analysis of heat-flow, mantle-xenolith and electrical-conductivity data all indicate that the coherent, conductive part of continental roots (the 'tectosphere') is at most 200-250 km thick. Some global seismic tomographic models agree with this estimate, but others suggest that a much thicker zone of high velocities lies beneath continental shields, reaching a depth of at least 400 km. Here we show that this disagreement can be reconciled by taking into account seismic anisotropy. We show that significant radial anisotropy, with horizontally polarized shear waves travelling faster than those that are vertically polarized, is present under most cratons in the depth range 250-400 km--similar to that found under ocean basins at shallower depths of 80-250 km. We propose that, in both cases, the anisotropy is related to shear in a low-viscosity asthenospheric channel, located at different depths under continents and oceans. The seismically defined 'tectosphere' is then at most 200-250 km thick under old continents. The 'Lehmann discontinuity', observed mostly under continents at about 200-250 km, and the 'Gutenberg discontinuity', observed under oceans at depths of about 60-80 km, may both be associated with the bottom of the lithosphere, marking a transition to flow-induced asthenospheric anisotropy.