The full waveform inversion (FWI) of seismic reflection data aims to reconstruct a detailed physical properties model of the subsurface, fitting both the amplitude and the traveltime of the reflections generated at physical discontinuities in the propagation medium. Unlike reservoir-scale seismic exploration, where seismic inversion is a widely adopted remote characterization tool, ultrahigh-frequency (UHF, 0.2–4.0 kHz) multichannel marine reflection seismology is still most often limited to a qualitative interpretation of the reflections’ architecture. Here we propose an elastic FWI methodology, custom-tailored for pre-stack UHF marine data in vertically heterogeneous media to obtain a decimetric-scale distribution of P-impedance, density ...