spacecraft landed successfully on Mars and imaged the surface to characterize the surficial geology. Here we report on the geology and subsurface structure of the landing site to aid in situ geophysical investigations. InSight landed in a degraded impact crater in Elysium Planitia on a smooth sandy, granule-and pebble-rich surface with few rocks. Superposed impact craters are common and eolian bedforms are sparse. During landing, pulsed retrorockets modified the surface to reveal a near surface stratigraphy of surficial dust, over thin unconsolidated sand, underlain by a variable thickness duricrust, with poorly sorted, unconsolidated sand with rocks beneath. Impact, eolian, and mass wasting processes have dominantly modified the surface. Surface observations are consistent with expectations made from remote sensing data prior to landing indicating a surface composed of an impactfragmented regolith overlying basaltic lava flows.

The martian near surface layer consists of sand-sized as well as dust-sized particles (Christensen & Moore, 1992) interspersed with larger rocks, and its detailed structure depends on the deposition process as well as subsequent surface modifications by eolian and fluvial activity. Under present martian atmospheric conditions sand-sized particles in the 100-600 μm size range can be moved by winds through saltation (Kok et al., 2012), and dust particles of typical sizes around 1.5 μm are suspended in the atmosphere and can reach the ground in the form of airfall (Lemmon et al., 2019), such that aeolian processes are generally recognized to be the prevalent surface modification process on Mars today.

The InSight lander rests on a regolith-covered, Hesperian to Early Amazonian lava plain in Elysium Planitia within a ∼27-m-diameter, degraded impact crater called Homestead hollow. The km to cm-scale stratigraphy beneath the lander is relevant to the mission's geophysical investigations. Geologic mapping and crater statistics indicate that ∼170 m of mostly Hesperian to Early Amazonian basaltic lavas are underlain by Noachian to Early Hesperian (∼3.6 Ga) materials of possible sedimentary origin. Up to ∼140 m of this volcanic resurfacing occurred in the Early Amazonian at 1.7 Ga, accounting for removal of craters ≤700 m in diameter. Seismic data however, suggest a clastic horizon that interrupts the volcanic sequence between depths of ∼30 and ∼75 m. Meter-scale stratigraphy beneath the lander is constrained by local and regional regolith thickness estimates that indicate up to 10-30 m of coarse-grained, brecciated regolith that fines upwards to a ∼3 m thick loosely-consolidated, sand-dominated unit. The maximum depth of Homestead hollow, at ∼3 m, indicates that the crater is entirely embedded in regolith. The hollow is filled by sand-size eolian sediments, with contributions from sand to cobble-size slope debris, and sand to cobble-size ejecta. Landerbased observations indicate that the fill at Homestead hollow contains a cohesive layer down to ∼10-20 cm depth that is visible in lander rocket-excavated pits and the HP 3 mole hole. The surface of the landing site is capped by a ∼1 to 2 cm-thick loosely granular, sand-sized layer with a microns-thick surficial dust horizon. Plain Language SummaryThe InSight lander has geophysical instruments that are designed to determine the interior structure of Mars. Understanding the results from these instruments requires a geological analysis of materials beneath the landing site at Elysium Planitia. This study presents data that describe the vertical sequence of rocks and soils beneath the lander, as well as the geologic history. The results indicate that InSight rests on a 1.7-billion-year-old lava plain that is covered in a 10-30 m thick regolith that was produced by impact cratering and modified by wind. The uppermost portion of the regolith is a ∼3 m thick horizon of sand. InSight rests on sand within a degraded impact crater. The sandy material contains a slightly cohesive horizon that is only ∼1-2 cm beneath the lander and is up to 10-20 cm thick. The sandy horizon overlies rock fragments that get progressively larger with depth. Bedrock of basaltic lava exists beneath the regolith down to a depth of ∼170 m. The bedrock is interrupted by weaker materials between depths of ∼30 and 75 m. Beneath ∼170 m, the sequence is dominated by ancient (3.7-4.1 billion years old), possibly sedimentary materials.

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 ($>30~\text{cm}$ > 30 cm depth) of $4.9\pm0.4~\text{MPa}$ 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.

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The martian near surface layer consists of sand-sized as well as dust-sized particles (Christensen & Moore, 1992) interspersed with larger rocks, and its detailed structure depends on the deposition process as well as subsequent surface modifications by eolian and fluvial activity. Under present martian atmospheric conditions sand-sized particles in the 100-600 μm size range can be moved by winds through saltation (Kok et al., 2012), and dust particles of typical sizes around 1.5 μm are suspended in the atmosphere and can reach the ground in the form of airfall (Lemmon et al., 2019), such that aeolian processes are generally recognized to be the prevalent surface modification process on Mars today.

Europa is a premier target for advancing both planetary science and astrobiology, as well as for opening a new window into the burgeoning field of comparative oceanography. The potentially habitable subsurface ocean of Europa may harbor life, and the globally young and comparatively thin ice shell of Europa may contain biosignatures that are readily accessible to a surface lander. Europa’s icy shell also offers the opportunity to study tectonics and geologic cycles across a range of mechanisms and compositions. Here we detail the goals and mission architecture of the Europa Lander mission concept, as developed from 2015 through 2020. The science was developed by the 2016 Europa Lander Science Definition Team (SDT), and the mission architecture was developed by the preproject engineering team, in close collaboration with the SDT. In 2017 and 2018, the mission concept passed its mission concept review and delta-mission concept review, respectively. Since that time, the preproject has been advancing the technologies, and developing the hardware and software, needed to retire risks associated with technology, science, cost, and schedule.