The deeper you go into a gravitational field, the slower time goes. Therefore comparing clocks in different places gives a way to measure gravity. These clocks could be sufficiently precise to find mineral deposits underground from their gravity signature.
We've been doing that since the 1960s at least with such things as the LaCoste & Romberg gravimeter (1936).
You can download, see online the "Geoid"
https://americanhistory.si.edu/collections/nmah_865074
https://en.wikipedia.org/wiki/Gravimetry
https://en.wikipedia.org/wiki/Geoid
Magnetic anomalies also highlight inteesting places for minerals, the issue with both magnetic and gravity fields variations lies with determining the "true" depth to target (medium sized shallow target, or massive deep taget?) which is known as an inversion problem.
Inversion is rarely unique, and it's not due to the precision with which the field is measured.
https://earthsciences.anu.edu.au/study/student-projects/nove...
https://inside.mines.edu/~rsnieder/snieder_trampert_00.pdf
Epilogue:
Linear inverse problem theory is an extremely powerful tool for solving inverse problems. Much of the information that we currently have on the Earth’s interior is based on linear inverse problems
Despite the success of linear inverse theory, one should be aware that for many practical problems our ability to solve inverse problems is largely confined to the estimation problem.That said, the gravity technique is one that actually gets used today. With better precision, it can be even more useful than it already is.
But now that you know it is there, you can use other techniques, like seismic measurements, to nail that down.
A practical constraint is mass density, which has maximum and minimum values. We can make a crude approximation that the planet's density is constant, evaluate the field on the surface from the planet's shape and compare it with measurement. This would be more useful, but still, it wouldn't tell us whether there is a combo of water reservoir and a large massive deposit below it.
Sure this isnt going to be a star trek scanner but for practical purposes theres a bunch of other techniques to constrain the results
https://news.ycombinator.com/item?id=28232645
Detecting gravity waves with large laser triangles required a few advances in technology - precision clocks was one.
Not so long ago had you asked your question the answer would have been "detect gravity waves".