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This investigation documents that the Rugged Terrain Unit, the Stimson formation, and the Greenheugh sandstone were deposited in a 1200 m-deep lake that formed after the emergence of Mt. Sharp in Gale crater, Mars, nearly 4 billion years ago. In fact, the Curiosity rover traversed on a surface that once was the bottom of this lake and systematically examined the strata that were deposited in its deepest waters on the crater floor to layers that formed along its shoreline on Mt. Sharp. This provided a rare opportunity to document the evolution of one aqueous episode from its inception to its desiccation and to determine the warming mechanism that caused it. Deep water lacustrine siltstones directly overlie conglomerates that were deposited by mega floods on the crater floor. This indicates that the inception phase of the lake was sudden and took place when flood waters poured into the crater. The lake expanded quickly and its shoreline moved up the slope of Mt. Sharp during the lake-level rise phase and deposited a layer of sandstone with large cross beds under the influence of powerful storm waves. The lake-level highstand phase was dominated by strong bottom currents that transported sediments downhill and deposited one of the most distinctive sedimentological features in Gale crater: a layer of sandstone with a 3 km-long field of meter-high subaqueous antidunes (the Washboard) on Mt. Sharp. Bottom current continued downhill and deposited sandstone and siltstone on the foothills of Mt. Sharp and on the crater floor, respectively. The lake-level fall phase caused major erosion of lacustrine strata that resulted in their patchy distribution on Mt. Sharp. Eroded sediments were then transported to deep waters by gravity flows and were re-deposited as conglomerate and sandstone in subaqueous channels and in debris flow fans. The desiccation phase took place in calm waters of the lake. The aqueous episode we investigated was vigorous but short-lived. Its characteristics as determined by our sedimentological study matches those predicted by an asteroid impact. This suggests that the heat generated by an impact transformed Mars into a warm, wet, and turbulent planet. It resulted in planet-wide torrential rain, giant floods on land, powerful storms in the atmosphere, and strong waves in lakes. The absence of age dates prevents the determination of how long the lake existed. Speculative rates of lake-level change suggest that the lake could have lasted for a period ranging from 16 to 240 Ky. [ABSTRACT FROM AUTHOR]