A multi-species modeling framework for describing supersonic jet-induced cratering in a granular bed: Cratering on Titan case study

•Three-dimensional multiphase model combining LES equations for a multi-component-species dense fluid and kinetic theory-based model for granular medium are coupled.•Five studies undertaken: effects of (1) surface evenness; (2) jet Mach number; (3) particle diameter; (4) jet composition; (5) inter-granular stress coefficient.•The new ephemeral phenomenon of crater-in-crater is observed and its causes are identified.•The fluid-jet composition does not influence the crater characteristics, as those are shown to depend on the fluid density, but compositional effects lead to effective uphill diffusion of some species.•Variation of the mean and root mean square of solid volume fraction and particle momentum in the radial and vertical directions are quantified.