Abstract
New data from the $Gaia$ satellite, when combined with accurate
photometry from the Pan-STARRS survey, allow us to accurately estimate the
properties of the GD-1 stream. Here, we analyze the stellar density
perturbations in the GD-1 stream and show that they cannot be due to known
baryonic structures like giant molecular clouds, globular clusters, or the
Milky Way's bar or spiral arms. A joint analysis of the GD-1 and Pal 5 streams
instead requires a population of dark substructures with masses $\approx
10^7$ to $10^9 \ M_ødot$. We infer a total abundance of dark subhalos
normalised to standard cold dark matter $n_sub/n_sub, CDM = 0.4
^+0.3_-0.2$ ($68 \%$), which corresponds to a mass fraction contained in
the subhalos $f_sub = 0.14 ^+0.11_-0.07 \%$, compatible with the
predictions of hydrodynamical simulation of cold dark matter with baryons.
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