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They do show Bobby holding a picture of the boys' mom in the first episode - Mike tells Bobby he doesn't want him to forget his mom and neither does Carol, so we're to assume that she died.
What happened to Mr Martin - Carol's first husband - is never specified. I think the creators had in mind that she was divorced, but that was back in the day when you didn't mention divorce on TV, so it was never brought up.
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It is all 33girl's fault. ~DrPhil
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