The discovery that most of the prokaryotic diversity and biomass on Earth resides in the deep subsurface, calls for an improved definition of habitability, which should consider the existence of dark biospheres in other planets and moons of the Solar System and beyond. The discovery of interior liquid water worlds on some ice moons with waterless surfaces has piqued wide astrobiological interest, but the sporadic mentions of the possibility of life in the deep subsurface of rocky planets in recent habitability reviews calls for a methodical effort to develop sufficient knowledge, both scientific and technological, to include the dark biospheres in our habitability assessments. In this review we analyze recent developments and the methodologies employed to characterize Earth's continental hard rock deep subsurface to both prepare the future exploration of the putative dark biosphere of Mars and to highlight its importance when evaluating planetary habitability.

Among the key-parameters to characterize habitability are presence or availability of liquid water, an appropriate temperature range, and the time scale of reference. These criteria for habitability are discussed and described from the point of view of water- and ice-physics, and it is shown that liquid water may exist in the sub-surfaces of planetary bodies like Mars, and possibly of inner asteroids and internally heated ice-moons. Water can remain fluid there also at temperatures far below the canonical 0 A degrees C. This behaviour is made possible as a consequence of the freezing point depression due to salty solutes in water or brines, as they can be expected to exist in nature more frequently than pure liquid water. On the other hand, low temperatures cause a slowing down of chemical processes, as can be described by Arrhenius's relation. The resulting smaller reaction rates probably will have the consequence to complicate the detection of low-temperature life processes, if they exist. Furthermore, the adaptation potential of life is to be mentioned in this context as a yet partially unknown process. Resulting recommendations are given to improve the use of criteria to characterize habitable conditions.

Galileo spacecraft data suggest that a global ocean exists beneath the frozen ice surface Jupiter's moon Europa. Since the early 1970s, planetary scientists have used theoretical and observational arguments to deliberate the existence of an ocean within Europa and other large icy satellites. Galileo magnetometry data indicates an induced magnetic field at Europa, implying a salt water ocean. A paucity of large craters argues for a surface on average only similar to 40-90 Myr old. Two multi-ring structures suggest that impacts punched through an ice shell similar to 20 km thick. Europa's ocean and surface are inherently linked through tidal deformation of the floating ice shell, and tidal flexing and nonsynchronous rotation generate stresses that fracture and deform the surface to create ridges and bands. Dark spots, domes, and chaos terrain are probably related to tidally driven ice convection along with partial melting within the ice shell. Europa's geological activity and probable mantle contact permit the chemical ingredients necessary for life to be present within the satellite's ocean. Astonishing geology and high astrobiological potential make Europa a top priority for future spacecraft exploration, with a primary goal of assessing its habitability.