Scientists have recently mapped the Moho boundary which is the boundary between the earth's crust and mantle. The mapping was done using gravity measurements from one of the European Space Agency Satellites. The divide lies between 10 and 70km below the surface of the earth. The boundary was able to mapped because of changes in density of rocks between the crust and mantle which slightly changed the earth's gravitational pull.
http://www.bbc.co.uk/news/science-environment-17312368
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