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What did the Galileo space probe discover about Jupiter's moons?

The Galileo space probe studied the Jupiter system from 1995 to 2003, gathering data that transformed our understanding of the Jovian moons. It recorded active volcanism and plasma interactions on Io, and collected data supporting the existence of subsurface liquid oceans on Europa, Ganymede, and Callisto. Additionally, Galileo found that Jupiter's faint rings are made of dust from impacts on its small inner moons and discovered exospheres around Europa, Ganymede, and Callisto.

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