This article is a data sources and details article.
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For the Delta-IV Heavy, I found "8000 kg to TMI" per wikipedia as of 8-31-2018. This matches with the 8 metric tons for Mars missions shown for "existing launch vehicles" in the NASA Mission Planner's Guide for SLS (Reference 1). The largest payloads among existing vehicles are carried by Delta-IV Heavy, if one excludes Falcon-9 and Falcon-Heavy. I also had a launch price for Delta-IV Heavy of $400M, in reference 2. Here "TMI" means "trans-Mars injection", presumably a min-energy Hohmann transfer orbit from Earth to Mars.
I found online a Popular Science magazine article. I found it 8-31-2018. It says "max 11,000 pounds to Mars for Atlas V", without specifying the Atlas V configuration. That 11,000 pound figure converts to 4.99 metric tons. The Atlas V user's Manual 2010 (available on-line) gave no guidance for missions outside Earth orbit. However, that figure of just under 5 tons is fairly realistic for an Atlas V 500-series configuration, so I used it here as "in the ballpark". I had a launch price of $153M in reference 2 for an Atlas V 551 configuration. I used this with the payload figure as an "in the ballpark" realistic estimate for a Mars launch with a 551 configuration.
Both vehicles fly their payloads within a shroud. Per the methods used in reference 1, I used the same 10% deduction from thrown mass for the payload adapter, and the same 50% payload/ignition fraction for the direct-entry lander. This presumes a direct entry from the interplanetary trajectory, with a craft of fairly large ballistic coefficient, so that chutes are infeasible because the altitudes are too low and timelines too short. Under these circumstances, retro-propulsion from the end of hypersonics (about 0.7 km/s) is required for a safe touchdown. That retro-propulsion technology is flying operationally, while extendible or inflatable heat shields that reduce ballistic coefficient are not yet flying, except very experimentally.
Results follow:
vehicle................thrown mass...$M/launch..net payload..useful..$M/u.ton
............................to TMI m.ton.....................entry m.ton..m.ton...
Delta-IV Heavy...8.000..............400.............7.20..............3.60.....111
Atlas-V 551.........4.99................153.............4.491............2.245...68
Note that m.ton means metric ton, net payload is the mass at entry and at ignition for the lander, and 50% of that lander mass is the useful payload delivered to the surface of Mars. Note also that these numbers are inherently imprecise, but not by factors of 2 or more.
References:
1. 2014 Mission Planner's Guide released by NASA, available on-line as file SLS_Mission_Planners_Guide_Ver1_Aug2014.pdf
2. Article dated Feb 9, 2018 titled "Launch Costs Comparison 2018" posted here at http://exrocketman.blogspot.com
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