We don’t know nearly as much about the composition of the earth as we say we do.
That being said, the going idea is that they use seismigraphs and time the return ping for an idea of the crusts depth.
Outside of that, and everything under the outer crust of the earth, it is all assumption. We assume it has a molten iron core. That explains our electromagnetic field. What we do is basically backwards math. We can measure some things, we extrapolate and correlate it into things we couldn’t possibly prove at this time.
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