resurfacing episodes on a time scale of 700 million years. Earth Earth ( from the Sun) is the largest and densest of the inner planets, the only one known to have current geological activity, and the only place where life is known to exist. Its liquid hydrosphere is unique among the terrestrial planets, and it is the only planet where plate tectonics has been observed. Earth's atmosphere is radically different from those of the other planets, having been altered by the presence of life to contain 21% free oxygen. The planetary magnetosphere shields the surface from solar and cosmic radiation, limiting atmospheric stripping and maintaining habitability. It has one natural satellite, the Moon, the only large satellite of a terrestrial planet in the Solar System. Mars Mars ( from the Sun) is smaller than Earth and Venus (). It has an atmosphere of mostly carbon dioxide with a surface pressure of ; roughly 0.6% of that of Earth but sufficient to support weather phenomena. Its surface, peppered with volcanoes, such as Olympus Mons, and rift valleys, such as Valles Marineris, shows geological activity that may have persisted until as recently as 2 million years ago. Its red colour comes from iron oxide (rust) in its soil. Mars has two tiny natural satellites (Deimos and Phobos) thought to be either captured asteroids, or ejected debris from a massive impact early in Mars's history. Asteroid belt Asteroids except for the largest, Ceres, are classified as small Solar System bodies and are composed mainly of refractory rocky and metallic minerals, with some ice. They range from a few metres to hundreds of kilometres in size. Asteroids smaller than one meter are usually called meteoroids and micrometeoroids (grain-sized), with the exact division between the two categories being debated over the years. As of 2017, the IAU designates asteroids having diameter between about 30 micrometres and 1 metre as micrometeroids, and terms smaller particles "dust". The asteroid belt occupies the orbit between Mars and Jupiter, between from the Sun. It is thought to be remnants from the Solar System's formation that failed to coalesce because of the gravitational interference of Jupiter. The asteroid belt contains tens of thousands, possibly millions, of objects over one kilometre in diameter. Despite this, the total mass of the asteroid belt is unlikely to be more than a thousandth of that of Earth. The asteroid belt is very sparsely populated;