The instrument package SEIS (Seismic Experiment for Internal Structure) with the three very broadband and three short-period seismic sensors is installed on the surface on Mars as part of NASA’s InSight Discovery mission. When compared to terrestrial installations, SEIS is deployed in a very harsh wind and temperature environment that leads to inevitable degradation of the quality of the recorded data. One ubiquitous artifact in the raw data is an abundance of transient one-sided pulses often accompanied by high-frequency spikes. These pulses, which we term “glitches”, can be modeled as the response of the instrument to a step in acceleration, while the spikes can be modeled as the response to a simultaneous step in displacement. We attribute the glitches primarily to SEIS-internal stress relaxations caused by the large temperature variations to which the instrument is exposed during a Martian day. Only a small fraction of glitches correspond to a motion of the SEIS package as a whole caused by minuscule tilts of either the instrument or the ground. In this study, we focus on the analysis of the glitch+spike phenomenon and present how these signals can be automatically detected and removed from SEIS’ raw data. As glitches affect many standard seismological analysis methods such as receiver functions, spectral decomposition and source inversions, we anticipate that studies of the Martian seismicity as well as studies of Mars’ internal structure should benefit from deglitched seismic data.

InSight’s seismometer package SEIS was placed on the surface of Mars at about 1.2 m distance from the thermal properties instrument 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 realised after critical hardware decisions were already taken. Furthermore, the design and nominal operation of both SEIS and HP3 are non-ideal 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 polarisation analysis, we determined effective P- and S-wave velocities of vP = 119+45-21 m/s and vS = 63+11-7 m/s, respectively, from around 2,000 hammer stroke recordings. These velocities likely represent bulk estimates for the uppermost several 10’s of cm of regolith. An analysis of the P-wave incidence angles provided an independent vP/vS ratio estimate of 1.84+0.89-0.35 that compares well with the traveltime based estimate of 1.86+0.42-0.25. The low seismic velocities are consistent with those observed for low-density unconsolidated sands and are in agreement with estimates obtained by other methods.

The InSight mission (Interior Exploration using Seismic Investigations, Geodesy and Heat Transport) has been collecting high-quality seismic data from Mars since February 2019, shortly after its landing. The Marsquake Service (MQS) is the team responsible for the prompt review of all seismic data recorded by the InSight’s seismometer (SEIS), marsquake event detection, and curating seismicity catalogues. Until sol 1011 (end of September 2021), MQS have identified 951 marsquakes that we interpret to occur at regional and teleseismic distances, and 1062 very short duration events that are most likely generated by local thermal stresses nearby the SEIS package. Here, we summarize the seismic data collected until sol 1011, version 9 of the InSight seismicity catalogue. We focus on the significant seismicity that occurred after sol 478, the end date of version 3, the last catalogue described in a dedicated paper. In this new period, almost a full Martian year of new data has been collected, allowing us to observe seasonal variations in seismicity that are largely driven by strong changes in atmospheric noise that couples into the seismic signal. Further, the largest, closest and most distant events have been identified, and the number of fully located events has increased from 3 to 7. In addition to the new seismicity, we document improvements in the catalogue that include the adoption of InSight-calibrated Martian models and magnitude scales, the inclusion of additional seismic body-wave phases, and first focal mechanism solutions for three of the regional marsquakes at distances ~30 degrees.

One of the goals of the InSight (Interior Exploration using Seismic Investigations, Geodesy and Heat Transport) mission is to constrain the interior structure of Mars. We present a hierarchical transdimensional Bayesian approach to extract phase velocity dispersion and interior shear-wave velocity (VS) models from a single seismogram. This method was adapted to Mars from a technique recently developed for Earth (Xu & Beghein, 2019). Monte Carlo Markov Chains (MCMC) seek an ensemble of one dimensional (1-D) VS models between a source and a receiver that can explain the observed waveform. The models obtained are used to calculate the phase velocities of fundamental and higher modes at selected periods, and a subsequent analysis is performed to assess which modes were reliably measured. An advantage of our approach is that it can also fit unknown data noise, which reduces the risk of overfitting the data. In addition, uncertainties in the source parameters can be propagated, yielding more accurate model parameter uncertainties. In this paper, we first present our technique and discuss the challenges stemming from using a single station to characterize both structure and the source and from the absence of a Mars reference model. We then demonstrate the method feasibility using the MSS blind test data and our own synthetic data, which included realistic noise levels based on the noise recorded by InSight.

Seismic noise recorded at the surface of Mars has been monitored since February 2019, using the seismometers of the InSight lander. The noise on Mars is 500 times lower than on Earth at night and it increases during the day. We analyze its polarization as a function of time and frequency in the band 0.03-1Hz. We use the degree of polarization to extract signals with stable polarization whatever their amplitude. We detect polarized signals at all frequencies and all times. Glitches correspond to linear polarized signals which are more abundant during the night. For signals with elliptical polarization, the ellipse is in the horizontal plane with clockwise and anti-clockwise motion at low frequency (LF). At high frequency (HF), the ellipse is in the vertical plane and the major axis is tilted with respect to the vertical. Whereas polarization azimuths are different in the two frequency bands, they are both varying as a function of local time and season. They are also correlated with wind direction, particularly during the day. We investigate possible aseismic and seismic origin of the polarized signals. Lander or tether noise are discarded. Pressure fluctuation transported by environmmental wind may explain part of the HF polarization but not the tilt of the ellipse. This tilt can be obtained if the source is an acoustic emission in some particular case. Finally, in the evening when the wind is low, the measured polarized signals seems to correspond to a diffuse seismic wavefield that would be the Mars microseismic noise.

A seismic investigation on Saturn’s moon Enceladus could determine the thickness of the ice shell, along with variations from the mean thickness, by recovering phase and group velocities, and through the frequency content of surface waves. Here, we model the Enceladus ice shell with uniform thicknesses of 5 km, 20 km, and 40 km, as well as with ice topography ranging from 5-40 km. We investigate several approaches for recovering the mean ice shell thickness. We show that surface wave dispersions could be used to determine the mean ice shell thickness. Flexural waves in the ice only occur if the shell is thinner than a critical value < 20 km. Rayleigh waves dominate only in thicker ice shells. The frequency content of Crary waves depends on the ice shell thickness.

Seismic observations involve signals that can be easily masked by noise injection. For InSight, NASA's lander on Mars, the atmosphere is a significant noise contributor for two thirds of a Martian day, and while the noise is below that seen at even the quietest sites on Earth, the amplitude of seismic signals on Mars is also considerably lower requiring an understanding and quantification of environmental injection at unprecedented levels. Mars' ground and atmosphere provide a continuous coupled seismic system, and although atmospheric functions are of distinct origins, the superposition of these noise contributions is poorly understood, making separation a challenging task. We present a novel method for partitioning the observed signal into seismic and environmental contributions. Pressure and wind fluctuations are shown to exhibit temporal cross-frequency coupling across multiple bands, injecting noise that is neither random nor coherent. We investigate this through comodulation, quantifying the signal synchrony in seismic motion, wind and pressure. By working in the time-frequency domain, we discriminate the origins of underlying processes and provide the site's environmental sensitivity. Our method aims to create a virtual vault at InSight, shielding the seismometers with effective post-processing in lieu of a physical vault. This allows us to describe the environmental and seismic signals over a sequence of sols, to quantify the wind and pressure injection, and estimate the seismic content of possible Marsquakes with a signal-to-noise ratio that can be quantified in terms of environmental independence. Finally, we exploit the temporal energy correlations for source attribution of our observations.

In early 2019, NASA’s InSight lander successfully deployed a single three-component very broadband seismometer (VBB) on the surface of Mars to detect and characterize marsquakes. Using these data, we present a method to infer the source mechanisms of marsquakes from waveforms of P and S waves recorded at a single station. We show that the three events with the highest signal-to-noise ratio (SNR) and a robust distance estimate S0173a, (May 23rd 2019), S0235b, (July 27th 2019) and S0183a, (June 3rd 2019) are all likely the results of normal faulting, suggesting an extensional regime mainly oriented south-east north-west in the respective source regions, Cerberus Fossae and Orcus Patera. We quantify the uncertainty of our solutions by comparing results of a direct inversion with a grid-search method.

Calculated lithospheric strength envelopes (s) are rheological models of the lithosphere that are useful in understanding the elastic () and seismogenic () thicknesses of the lithosphere. Determinations of Te for Mars using different techniques use different models of Te as indicated by rheology in LSEs, and LSEs indicate that the differential stress fields that cause deformation must be considered in the determination of both Te and Ts. We do not attempt to review the literature here or to rank different methods. Our goal is to provide a better understanding of the different values of Te and Ts published in the literature and to encourage integration of these data with a physical understanding of the lithosphere in time and space.

The InSight mission [1] landed in November 2018 in the Elysium Planitia region [2] bringing the first geophysical observatory to Mars. Since February 2019 the seismometer SEIS [3] has continuously recorded Mars’ seismic activity, and a list of the seismic events is available in the InSight Marsquake Service catalog [4]. In this study, we predict present-day seismic velocities in the Martian interior using the 3D thermal evolution models of [5]. We then use the 3D velocity distributions to interpret seismic observations recorded by InSight. Our analysis is focused on the two high quality events S0173a and S0235b. Both have distinguishable P- and S-wave arrivals and are thought to originate in Cerberus Fossae [6], a potentially active fault system [7]. Our results show that models with a crust containing more than half of the total amount of heat producing elements (HPE) of the bulk of Mars lead to large variations of the seismic velocities in the lithosphere. A seismic velocity pattern similar to the crustal thickness structure is observed at depths larger than 400 km for cases with cold and thick lithospheres. Models, with less than 20% of the total HPE in the crust have thinner lithospheres with shallower but more prominent low velocity zones. The latter, lead to shadow zones that are incompatible with the observed P- and S-wave arrivals of seismic events occurring in Cerberus Fossae, in 20° - 40° epicentral distance. We therefore expect that future high-quality seismic events have the potential to further constrain the amount of HPE in the Martian crust. Future work will combine the seismic velocities distribution calculated in this study with modeling of seismic wave propagation [8, 9]. This will help to assess the effects of a 3D thermal structure on the waveforms and provide a powerful framework for the interpretation of InSight’s seismic data. [1] Banerdt et al., Nat. Geo. 2020; [2] Golombek et al., Nat. Comm. 2020, [3] Lognnoné et al., Nat. Geo. 2020, [4] InSight MQS, Mars Seismic Catalogue, InSight Mission V3, 2020, https://doi.org/10.12686/A8, [5] Plesa et al., GRL 2018, [6] Giardini et al., Nat. Geo. 2020, [7] Taylor et al., JGR 2013, [8] Bozdag et al., SSR 2017, [9] Komatitsch & Tromp, GJI 2002.

Since landing on Mars, the NASA InSight lander has witnessed 8 Phobos and one Deimos transit. All transits could be observed by a drop in the solar array current and the surface temperature, but more surprisingly, for several ones, a clear signature was recorded with the seismic sensors and the magnetometer. We present a preliminary interpretation of the seismometer data as temperature induced local deformation of the ground, supported by terrestrial analog experiments and finite-element modelling. The magnetic signature is most likely induced by changing currents from the solar arrays. While the observations are not fully understood yet, the recording of transit-related phenomena with high sampling rate will allow more precise measurements of the transit times, thus providing additional constraints for the orbital parameters of Phobos. The response of the seismometer can potentially also be used to constrain the thermo-elastic properties of the shallow regolith at the landing site.

The NASA InSight lander successfully placed a seismometer on the surface of Mars. Alongside, a hammering device was deployed that penetrated into the ground to attempt the first measurements of the planetary heat flow of Mars. The hammering of the heat probe generated repeated seismic signals that were registered by the seismometer and can potentially be used to image the shallow subsurface just below the lander. However, the broad frequency content of the seismic signals generated by the hammering extends beyond the Nyquist frequency governed by the seismometer's sampling rate of 100 samples per second. Here, we propose an algorithm to reconstruct the seismic signals beyond the classical sampling limits. We exploit the structure in the data due to thousands of repeated, only gradually varying hammering signals as the heat probe slowly penetrates into the ground. In addition, we make use of the fact that repeated hammering signals are sub-sampled differently due to the unsynchronised timing between the hammer strikes and the seismometer recordings. This allows us to reconstruct signals beyond the classical Nyquist frequency limit by enforcing a sparsity constraint on the signal in a modified Radon transform domain. Using both synthetic data and actual data recorded on Mars, we show how the proposed algorithm can be used to reconstruct the high-frequency hammering signal at very high resolution. In this way, we were able to constrain the seismic velocity of the top first meter of the Martian regolith.