Temperature is of primary importance for many physical properties in the Martian soil. We measured diurnal and annual soil (and surface) temperature variations using the NASA InSight Mars mission’s HP3 radiometer and thermal probe. At the depth of the probe of 0.5 - 36 cm, an average temperature of 217.5K was found varying by 5.3 - 6.7 K during a sol and by 13.2K during the seasons. The damping of the surface temperature variations in the soil were used to derive a thermal diffusivity of 2.30±0.03×10−8 m2/s for the depth range of the diurnal wave - thermal skin depth 2.5±0.04 cm - and 3.74±0.61×10−8 m2/s for that of the annual wave, with a thermal skin depth of 84±10 cm. The temperatures measured are conducive to the deliquesence of thin films of brines in the soil. These are of astrobiological interest and may explain the formation of the observed cemented duricrust.

The heat flow and physical properties package measured soil thermal conductivity at the landing site in the 0.03 to 0.37 m depth range. Six measurements spanning solar longitudes from 8.0$^\circ$ to 210.0$^\circ$ were made and atmospheric pressure at the site was simultaneously measured using InSight’s Pressure Sensor. We find that soil thermal conductivity strongly correlates with atmospheric pressure. This trend is compatible with predictions of the pressure dependence of thermal conductivity for unconsolidated soils under martian atmospheric conditions, indicating that heat transport through the pore filling gas is a major contributor to the total heat transport. This implies that any cementation or induration of the soil sampled by the experiments must be minimal and that the soil surrounding the mole at depths below the duricrust is unconsolidated. Thermal conductivity data presented here are the first direct evidence that the atmosphere interacts with the top most meter of material on Mars.

The heat flow and physical properties package (HP$^3$) of the InSight Mars mission is an instrument package designed to determine the martian planetary heat flow. To this end, the package was designed to emplace sensors into the martian subsurface and measure the thermal conductivity as well as the geothermal gradient in the 0-5 m depth range. After emplacing the probe to a tip depth of 0.37 m, a first reliable measurement of the average soil thermal conductivity in the 0.03 to 0.37 m depth range was performed. Using the HP$^3$ mole as a modified line heat source, we determined a soil thermal conductivity of 0.039 $\pm$ 0.002 W m$^{-1}$ K$^{-1}$, consistent with the results of orbital and in-situ thermal inertia measurements. This low thermal conductivity implies that 85 to 95\% of all particles are smaller than 104-173 $\mu$m and suggests that any cement contributing to soil cohesion cannot significantly increase grain-to-grain contact areas by forming cementing necks, but could be distributed in the form of grain coatings instead. Soil densities compatible with the measurements are 1211$_{-113}^{+149}$ kg m$^{-3}$, indicating soil porosities of 61 \%.

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.

We use the surface temperature response to Phobos transits as observed by a radiometer on board of the InSight lander to constrain the thermal properties of the uppermost layer of regolith. Modeled transit lightcurves validated by solar panel current measurements are used to modify the boundary conditions of a 1D heat conduction model. We test several model parameter sets, varying the thickness and thermal conductivity of the top layer to explore the range of parameters that match the observed temperature response within its uncertainty both during the eclipse as well as the full diurnal cycle. The measurements indicate a thermal inertia of 103+48-24 Jm-2K-1s-1/2 in the uppermost layer of 0.2 to 4 mm, significantly smaller than the thermal inertia of 200 Jm-2K-1s-1/2 derived from the diurnal temperature curve. This could be explained by larger particles, higher density, or a very small amount of cementation in the lower layers.