Nonlinear elastic waveform inversion has advanced to the point where it is now possible to invert real multiple-shot seismic data. The iterative gradient algorithm that we employ can readily accommodate robust minimization criteria which tend to handle many types of seismic noise (noise bursts, missing traces, etc.) better than the commonly used least-squares minimization criteria. Although there are many robust criteria from which to choose, we have tested only a few. In particular, the Cauchy criterion and the sech criterion perform very well in both noise-free and noise-added inversions of numerical data.Although the real data set, which we invert using the sech criterion, is marine (pressure sources and receivers) and is very much dominated by unconverted P waves, we can, for the most part, resolve the short wavelengths of both P impedance and S impedance. The long wavelengths of velocity (the background) are assumed known. Because we are deriving nearly all impedance information from unconverted P waves in this inversion, data acquisition geometry must have sufficient multiplicity in subsurface coverage and a sufficient range of offsets, just as in amplitude-versus-offset (AVO) inversion. However, AVO analysis is implicitly contained in elastic waveform inversion algorithms as part of the elastic wave equation upon which the algorithms are based.Because the real-data inversion is so large--over 230,000 unknowns (340,000 when density is included) and over 600,000 data values--most statistical analyses of parameter resolution are not feasible. We qualitatively verify the resolution of our results by inverting a numerical data set which has the same acquisition geometry and corresponding long wavelengths of velocity as the real data, but has semirandom perturbations in the short wavelengths of P and S impedance.