Orbital evolution of the Galilean satellites
The orbital motions of the Galilean satellites exert dramatic control over their physical properties (most notably Io's) through tidal heating. In turn, tidal dissipation in the satellites, as well as in Jupiter, has governed the evolution of the orbits and, in particular, of the Laplace resonance. If the system started out of the resonance and evolved into it, forced eccentricities would have increased with time. Hence, the tidal melting of Io and the cracking of Europa'a surface may have occurred relatively recently. This theory requires that Jupiter's tidal dissipation factor be greater than about two million, a rather low value (high rate of tidal dissipation) compared with most models of Jovian interior processes. Alternatively, the system may have started even deeper in the resonance than it is today, a scenario which is consistent with larger values of the tidal dissipation factor. This model, with its correspondingly large initial forced eccentricities, would imply (1) that Io melted early and fast, and may have remained molten with only a thin solid skin until the present and (2) that the water mantles of both Europa and Ganymede remained largely molten for considerably longer than Callisto did, but later froze as their eccentricities and tidal heating decreased.