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Full-waveform inversion (FWI) of seismic data provides quantitative constraints on subsurface structures. Despite its widespread success, FWI of data around the critical angle is challenging because of the abrupt change in amplitude and phase at the critical angle and the complex waveforms, especially in the presence of a sharp velocity contrast, such as at the Moho transition zone (MTZ). Furthermore, the interference of refracted lower crustal (Pg) and upper mantle (Pn) arrivals with the critically reflected Moho (PmP) arrivals in crustal and mantle studies makes the application of conventional FWI based on linearized model updates difficult. To address such a complex relationship between the model and data, one should use an inversion method based on a Bayesian formulation. Here, we propose to use a Hamiltonian Monte Carlo (HMC) method for FWI of wide-angle seismic data. HMC is a non-linear inversion technique where model updates follow the Hamiltonian mechanics while using the gradient information present in the probability distribution, making it similar to iterative gradient techniques like FWI. It also involves procedures for generating distant models for sampling the posterior distribution, making it a Bayesian method. We test the performance and applicability of HMC based elastic FWI by inverting the non-linear part of the synthetic seismic data from a three-layer and a complex velocity model, followed by the inversion of wide-angle seismic data recorded by two ocean bottom seismometers over a 70 Ma old oceanic crustal segment in the equatorial Atlantic Ocean. The inversion results from both synthetic and real data suggest that HMC based FWI is an appropriate method for inverting the non-linear part of seismic data for crustal studies. [ABSTRACT FROM AUTHOR]