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\begin{document}

\title{In-situ regolith seismic velocity measurement at the InSight landing
site on Mars}



\author[1]{Nienke Brinkman}%
\author[2]{Cedric Schmelzbach}%
\author[3]{David Sollberger}%
\author[4]{Jan ten Pierick}%
\author[1]{Pascal Edme}%
\author[1]{Thomas Haag}%
\author[5]{Sharon Kedar}%
\author[6]{Troy L. Hudson}%
\author[2]{Fredrik Andersson}%
\author[7]{Martin van Driel}%
\author[8]{Tobias Nicollier}%
\author[3]{Johan O. A. Robertsson}%
\author[7]{Domenico Giardini}%
\author[9]{Tilman Spohn}%
\author[10]{Christian Krause}%
\author[11]{Matthias Grott}%
\author[11]{Joerg Knollenberg}%
\author[12]{Ken Joslin Hurst}%
\author[13]{Ludovic Rochas}%
\author[13]{Julien Vallade}%
\author[13]{Steve Blandin}%
\author[14]{Philippe Henri Lognonné}%
\author[15]{William Thomas Pike}%
\author[16]{William Bruce Banerdt}%
\affil[1]{Institute of Geophysics, ETH Zürich}%
\affil[2]{ETH Zurich}%
\affil[3]{Institute of Geophysics, ETH Zurich}%
\affil[4]{Institute of Geophyisics, ETH Zürich}%
\affil[5]{Jet Propulsion Laboratory, California Institute of Technology}%
\affil[6]{Jet Propulsion Laboratory}%
\affil[7]{ETH Zürich}%
\affil[8]{WSL}%
\affil[9]{Institute of  Planetary Research}%
\affil[10]{DLR Institute of Space Systems}%
\affil[11]{DLR Institute for Planetary Research}%
\affil[12]{CALTECH}%
\affil[13]{Centre National des Études Spatiales}%
\affil[14]{Institut de Physique du Globe de Paris et Université de Paris Diderot}%
\affil[15]{Imperial College London}%
\affil[16]{Jet Propulsion Lab (NASA)}%


\vspace{-1em}



  
  \date{May 22, 2024}


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\begin{abstract}
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 v\textsubscript{P} = 119\textsuperscript{+45}\textsubscript{-21} m/s
and v\textsubscript{S} = 63\textsuperscript{+11}\textsubscript{-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 v\textsubscript{P}/v\textsubscript{S} ratio
estimate of 1.84\textsuperscript{+0.89}\textsubscript{-0.35} that
compares well with the traveltime based estimate of
1.86\textsuperscript{+0.42}\textsubscript{-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.%
\end{abstract}%



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