These missions and other observations revealed that Io, the closest of the four to its host planet, is abuzz with geological activity, including lava lakes, volcanic eruptions and tectonically formed mountains. But it is not home to large amounts of water.

Europa, Ganymede and Callisto, in contrast, have icy landscapes. Europa’s surface is a frozen wonderland with a young but complex history, possibly including icy analogs of plate tectonics and volcanoes. Ganymede, the largest moon in the entire solar system, is bigger than Mercury and has its own magnetic field generated internally from a liquid metal core. Callisto appears somewhat inert compared to the others, but serves as a valuable time capsule of an ancient past that is no longer accessible on the youthful surfaces of Europa and Io.