Showing posts with label Voyager. Show all posts
Showing posts with label Voyager. Show all posts

Thursday, September 2, 2010

Jupiter: Past and Present

This week, two of the best images of Jupiter that I've seen in a long time were published online.  One is a blast from the past, as Björn Jónsson released a mosaic he has been working on based on Voyager 1 data.  The other is simply the best image of Jupiter I have ever seen taken from by an astrophotographer.

First up is a 12-frame mosaic covering the Great Red Spot and surrounding cloud features. The original data was taken by the Voyager 1 spacecraft the day before its famous encounter with the Jupiter system, and Io in particular.  This mosaic was created by Björn Jónsson, who also created another 12-frame mosaic from Voyager 1 data a couple of weeks ago, covering a larger area of Jupiter's southern hemisphere.  His processing techniques bring out small-scale details in Jupiter's cloud features, accounts for Jupiter's rapid rotation, and preserves color contrasts without over-saturating the colors (that often plagued Voyager image processing that was performed at the time of the encounter).  This gentler approach to the data set allows Jónsson to bring out features such as shadows cast by high, convective clouds on the main cloud decks below.  While the Great Red Spot has certainly changed in the 31 years since these images were taken, these remain some of the best color images ever acquired of this giant storm, as Cassini was too far away to acquire high-resolution data, Galileo lacked the bandwidth, and New Horizons' high-resolution camera has only a single bandpass.

According to Jónsson, "the images I used were obtained on March 4,1979 at a distance of about 1.85 million km. The first image (C1635314.IMQ) was obtained at 07:08:36 and the last one (C1635400.IMQ) at 07:45:24. The resolution is roughly 18 km/pixel."  He used orange and violet filter data combined with a synthetic green filter.

Bringing us back to the present, Anthony Wesley, who is still out at Exmouth in Western Australia, was able to take a spectacular image of Jupiter on August 30.  The extraordinary quality of his data were the result of excellent viewing conditions.  What makes this image so remarkable is not so much its resolution, but its contrast.  For example, you can clearly make out a pattern of waves created by turbulence between the faded South Equatorial Belt and the South Tropical Zone to the west of the Great Red Spot.  Because both bands are bright, a high level of contrast is needed to pick out this kind of detail.  At the time this image was taken, the Great and Little Red Spots were reaching their closest approach, with only limited signs of interaction between the two orange storms.  Features are also visible within the Great Red Spot, again feat made possible by the incredible image contrast.  Not shown are two bright ovals in the North Equatorial Belt that merged on August 28.  Luckily, amateur astronomers were able to catch this merger as it happened, showing them get closer over the last few weeks before spinning around each other and merging.

Thursday, August 19, 2010

Exposing Io's True Colors

Thanks to its active volcanic activity and sulfur-rich surface, Io is one of the most colorful worlds yet seen in the Solar System, save the Earth of course. Publicly released images of Io from the Voyager and Galileo missions show a variety of colors on Io from reds surrounding Pele and Tvashtar, to yellow cyclo-sulfur and gray-white sulfur dioxide frost.  Greens and red-browns crop up across Io's mid-latitudes and polar regions, respectively, either from sulfur impurities or radiation damage.  However, the colors seen on most images of Io available on the internet use exaggerated colors, either from the use of filters that pick up light at wavelengths that are invisible to the human eye or by stretching the image to emphasize color differences from region-to-region.  Both are quite useful for science as they reveal regional compositional differences that might not be apparent to the naked eye.

On this blog and on my Io image website, I have processed Galileo images with limited amounts of color exaggeration added, creating true color images of Io.  I have done this by ensuring that the three images that make up each color composite use filters that allow photons in the visible spectrum to reach the camera's CCD (red, green, and violet) and by stretching each image in the color composite the same way.  For the latter, this means that each of the three images (per frame if it is a color mosaic) was calibrated so that the pixel values were equal to the intensity of detected photons divided by the incoming flux from the Sun (I/F) at each effective wavelength.  When I converted the data to a tiff format image (for editing in Photoshop), I linearly stretched all three color filters images so that the a pixel value of 0 was equal to the I/F of the black sky and 255 was equal to the maximum I/F seen in the RED filter (the brightest of the three color filters, at least for Io).  The image of Io against the clouds of Jupiter at right was processed in this manner.  As long as the images were properly photometrically calibrated, the resulting color images should be as close to true color as I can get without further manipulation of the images.

Now you may be asking yourself, "What do you mean 'without further manipulation of the images'?  Didn't you just say that you were 'creating true color images of Io'?"

As Björn Jónsson points out on his webpage, Io's color, Galileo and its predecessors, the Voyager space probes, did not carry the necessary filters that would correspond to the Red-Green-Blue color space most commonly used either as channels in Photoshop, as the color space of modern LCD monitors, or the three types of cones in the human eye.  Voyager's color filter set included ultraviolet (effective wavelength of 332 nanometers), violet (402 nm), blue (475 nm), green (564 nm), and orange (589 nm) filters. Galileo's color filter set included violet (404 nm), green (557 nm), and red (663 nm) filters as well as four narrow-band filters that were sensitive to light at near-infrared wavelengths (734, 756, 887, and 986 nm). 

Now for most bodies that are relatively bland in color at visible wavelengths, like most of Saturn's satellites, the differences between an object's appearance in blue and violet filters would be pretty minor, and so it would make little difference if a violet filter image was used in place of a blue filter one for the blue channel.  However, Io's albedo changes dramatically from a Galileo violet filter mean of 0.2771 to a green filter mean of 0.7443.  Thus, the filter used for the blue channel is important as Io's average brightness is strongly dependent on the effective wavelength of the filter.  Green and red filters for Galileo, Voyager, and Cassini are centered on either side of another ramp in Io's spectrum, and so they are less dependent on effective wavelength.  Voyager's lack of a red filter prevented it from detecting the red color of the Pele plume deposits (instead they appear dark or with a dark, red-brown hue in Voyager color composites).  With Galileo color composites, having to use a violet filter instead of a blue one for the blue RGB channel gives Io a strong, yellow hue, when it would likely be more muted.

You can see this in the two graphs below.  These compare Io's geometric albedo (charted in black in these two graphs) to the spectral responses of color filters used by the narrow-angle camera on Voyager 1 and SSI on Galileo.  Each colored curve represents the sensitivity of that filter to different wavelengths of light.  Both factor in the additional complication of the camera sensor's (CCD for Galileo SSI, vidicon for Voyager ISS-NA) sensitivities.  These data were obtained from the calibration reports for the Galileo and Voyager cameras.  In the case of the Voyager NAC, both the violet and blue filters are located in the steep spectral slope in Io's geometric albedo.  This slope is caused by the absorption of violet and ultraviolet sunlight by sulfur deposits on Io's surface.

In Voyager images, this slope means that there is a steep progression in the average brightness of Io from ultraviolet filter images to green filter ones.  For Galileo, the violet filter is located near the bottom of this ramp while the green one is located at the base of another slope that results from reddish material in Io's polar regions and near active volcanic centers like Pele.

So how do we go about generating true color images of Io from Galileo images?  First, I should point out that Galileo images are a better choice for synthesizing true color images since while the SSI camera may not have had an optimal filter set, at least it covered the full range of the visible spectrum, unlike the Voyager camera's vidicon sensor prevented it from detecting photons beyond 650 nm, cutting off a sizable portion of the red part of the spectrum.  As I said earlier, Björn Jónsson worked on this problem earlier, and created a method of synthesizing a blue filter by mixing the violet and green filter images.  He focused on recreating the overall appearance of Io as seen in blue filter Voyager images.  When combining this synthesized blue filter images with the normal red and green filter images, he hoped to create a data set that approximated Io's appearance as it would appear to the human eye.  He found that the best results came when blue channel pixel values could approximated as:
Blue = 0.61*Green + 0.39*Violet.
While this method seems to produce appropriate results, I am a bit concerned about using the Voyager blue filter for the blue channel.  Voyager used a blue filter that I feel was a bit to green and was closer to being a cyan filter.  Remember just because it is called a "blue" filter doesn't make it so :-)  So, what I've done instead is try to synthesize blue (BL1) filter images from Cassini, which is part of the true-color set of filters on the ISS camera system (BL1-GRN-RED).  The BL1 filter has an effective wavelength of 455 nm, a bit shorter than Voyager's blue filter.  This would better approximate the blue end of the CIE color chart.  I used following equation to mix a percentage of the green and violet filter pixel values to create a synthetic BL1 filter image:
Blue = 0.55*Green + 0.45*Violet.
These factors were calculated by finding Io's average geometric albedo at 455 nm (effective wavelength of the Cassini ISS BL1 filter), 404 nm (wavelength for the Galileo violet filter), and 557 nm (wavelength for the Galileo green filter) using ground-based spectral data published by Spencer et al. in 1995 (their data was also used for the Io spectrum in the graphs above). Then, I determined the weighted average between Io's albedo at 404 nm and 557 nm that would equal its albedo at 455 nm.  The image at right shows the same global color image from March 29, 1998: the version on the left is the original, unstretched version, and the one on the right has had this correction factor applied to its blue channel.  The version on the left should approximate a true-color image.  Instead of a vivid yellow world, Io appears more subdued, and many white-gray regions on Io appear more pinkish than they did before.

I know I have go on long enough with this article, but I want to point out a few caveats, just as Björn did.  Keep in mind that Io's surface materials have different spectra at visible wavelengths.  While most have steep spectral slopes between 350 and 500 nm resulting from sulfur before shallowing through the rest of the spectrum detectable by Galileo's camera, for red materials this steep slope continues on to around 750 nm before shallowing.  So the appearance of Io's reddish material would depend on the effective wavelength of the filter used for the red channel.  Both the Cassini and Galileo red filters are on the long side of the effective wavelength used for the red channel on most computer LCD's and the red cone in the human retina.  This makes reddish materials appear more vivid than they would in real-life, though not quite as muted as seen in Voyager color composites since the human eye is sensitive to longer wavelengths than the Voyager Orange filter even if its effective wavelength is closer to that of your red cones than the red filter on Cassini or Galileo.

Creating color composite images from spacecraft data is almost as much an art as science, and how you create them can depend on the image processor's preferences and the purpose of the processing.  I tend to prefer not to enhance the data anymore than necessary, and try to stay true to the original data, even if it isn't exactly true color.  That said, it has been an interesting journey into trying to create a "true" color Io image.  I may have to post a few more examples using the above formula.  I also realized that creating "true" color images may be affected by the conversions of the original DN values of the Galileo raw data to I/F (intensity over flux), so stay tuned on this.

References: 
Spencer, J.; et al. (1995). "Charge-coupled device spectra of the Galilean satellites: Molecular oxygen on Ganymede". Journal of Geophysical Research 100 (E9): 19,049–19,056.
Spencer, J.; et al. (1996). "Io on the Eve of the Galileo Mission". Annu. Rev. Earth Planet. Sci. 24: 125–190.
Geissler, P.; et al. (1999). "Global Color Variations on Io". Icarus 140: 265–282.

Monday, August 9, 2010

In the Shadow of a Giant: Observing Io in eclipse

One technique scientists use to monitor Io's active volcanism and atmospheric processes is by observing the moon while it is in eclipse.  Every Io day, the satellite passes into the shadow of Jupiter for a period of 2 hours and 20 minutes, plunging the entire moon into darkness.  But as first faintly seen by the Voyager 1 spacecraft when it flew by in 1979, Io glows in the dark.  These glows come from a variety of sources on Io's surface and atmosphere, such as thermal emission from lava flows and lava lakes, and aurorae from the interaction between gases in the atmosphere and Jupiter's magnetic field.  In this article, we will explore what scientists can learn from observing Io while in the darkness of Jupiter's giant shadow.

A few hours after its flyby of Io on March 5, 1979, Voyager 1 observed the moon while it was in eclipse.  It was a very long exposure, wide-angle-camera image designed to capture the night-side of Io against the background of stars at the end of the encounter.  The image contained multiple exposures of the night-side with a camera slew between each exposure.  It (FDS 16395.39, PICNO 0376J1 + 000) revealed a number of faint glows across Io.  Cook et al. in 1981 examined this image, and found that most of the faint glows, smeared as they were by the multiple exposures, were related to the plumes detected in Voyager 1's daylight images of the satellite, including faint flows from Pele, Marduk, Amirani-Maui, Prometheus, and Volund.  The poles of the moon were also faintly illuminated, with the north pole being a bit brighter than the southern one.  No thermal emission from Io's volcanic hot spots were observed on this occasion because the vidicon sensors used by the Voyager camera system could not detect photons with wavelengths longer than the orange portion of the visible spectrum.  This is much too short to detect thermal emission from all but the hottest of volcanic eruptions.  Cook et al. concluded that the glowing gases were not the result of extremely hot plasmas, but were glowing due to being excited by electrons from Jupiter's magnetosphere.  They suggest, however, that the polar glows are the result of gases emitted from numerous small vents, as opposed to plumes, which as we shall see from Galileo's results, may not be the correct interpretation.

The Galileo spacecraft arrived at Jupiter 16 years after the Voyager encounters, and stayed to observe Io every few months until its eventual destruction in Jupiter's atmosphere in September 2003.  On Galileo's first orbit, it imaged Io in eclipse on June 29, 1996.  These first images were taken in the Solid State Imager's clear filter, just as Voyager 1's eclipse observation was, but unlike Voyager's camera, the SSI was sensitive to photons from the near-infrared portion of the spectrum (0.7-1.0 microns).  This allowed the SSI camera to detect volcanic hot spots with temperatures greater than 700 K.  Scientists found several visible hotspots in this first observation (Pele, Reiden, Marduk, Isum, Mulungu, Fo, and Zamama), providing a proof of concept for this method, which supplemented the spectral observations of the Near-Infrared Mapping Spectrometer (NIMS).  The greater sensitivity to high-temperature volcanism, and finding it all across Io's surface also provided further proof that basaltic volcanism was wide-spread.  In addition to these more discreet glows, Galileo also observed fainter glows from volcanic plumes (such as Ra Patera), similar to the Voyager observation.  The limb of Io also glowed, not just the poles Voyager had seen, though the south pole was brighter in this case (the north pole was brighter when Voyager observed Io in eclipse).

Galileo observed Io while the moon was in eclipse during most of its nominal mission orbits and on several occasions during the extended missions. These images allowed scientists to monitor high-temperature volcanic activity on the surface.  A particularly brilliant hot spot was seen at Pillan in June 1997, providing evidence for a massive volcanic eruption there, which would be confirmed by the presence of a volcanic plume in daylight images from that orbit and a massive surface change around the hotspot seen three months later.  Eclipse images even showed how Pillan's hot spot had split by September and November 1997 due to lava flowing down into Pillan Patera from the plains above, thus creating a new source of thermal emission in the near-infrared.  Such small-scale details were not visible to the NIMS instrument until Galileo's encounters with Io later in the mission.  Images taken in the clear filter as well as SSI's near-infrared filters, such as the one at 1.0 micron, provided a way to crudely measure the blackbody temperature of Io's high-temperature volcanoes.  This was accomplished by calculating the ratio between the clear filter radiance of a hot spot and its radiance in the one micron filter.

Galileo's observations of Io in eclipse also allowed scientists to better understand the faint glows from the plumes and atmosphere.  These glows are the result of interactions between Jupiter's magnetosphere and the atmosphere of Io.  On two of Io's orbits, G8 and E15, Galileo scientists imaged Io in color to better understand the types of emissions that make up the aurorae on Io.  The best of this data set, from May 1998, is shown at left.  They reveal glowing aurorae of various color across different parts of Io's surface.  These can be categorized as bright blue, equatorial glows, red polar limb glows, and fainter green, anti-Jupiter hemisphere glows.  When an excited atom or molecule returns to the ground state, it sends out a photon with a specific energy. This energy depends on the type of atom and on the level of excitement, and we perceive the energy of a photon as color as the energy relates to a specific wavelength on the visible spectrum.  Just as red aurora on Earth are caused by atomic oxygen, the red limb auroral glows on Io are thought to be due to emission from neutral atomic oxygen at 630 and 636 nm.  The oxygen in Io does not derive from organisms on the surface, but from the break-up by solar ultraviolet light of sulfur dioxide in a process called photolysis:

SO2 + → SO + O.
The green glows are thought to caused by excitation of neutral atomic sodium, which releases photons in the sodium D lines at 589 and 590 nm, within the bandwidth of the green filter.  Atomic sodium is another photolysis product, this time deriving from sodium chloride belched from Io's volcanoes.  The bright blue glows along the limb near Io's equator are thought to be due to the excitation of molecular sulfur dioxide.  Most of these glows are related to various plumes visible near Io's limb at the time of the observation, including Amirani, Acala, Prometheus, Zamama, and Culann.  The identification of these chemical species are supported by ground-based and Hubble observations of Io's aurorae, which revealed the presence and absence of various atomic and molecular emission lines, including sulfur and oxygen lines in the ultraviolet at 190 and 135.6 nm, respectively.

Geissler et al. (2001) explored much of the available Galileo and Cassini eclipse image dataset and reported on the how the intensity and position of these auroral emissions change with time.  For example, across the Galileo dataset, the red limb emissions were brightest over either Io's north or south pole.  The bright equatorial glows, visible as blue glows in the E15 dataset, tend to be located either at plumes or near the sub- and anti-Jovian points on Io's surface.  In the latter case, these glows at various times either appear north of the sub-Jovian point and south of the anti-Jovian point, or vice versa.  Both temporal variations in the red limb glows and the blue equatorial glows are related to Io's position in the Jovian magnetosphere.  Jupiter's magnetic field is tilted with respect to the orbital plane of its main satellites by 9 degrees, so at various times as Io's orbits the planet, the moon is either above or below the equatorial plane of Jupiter's magnetic field.  At a system III longitude (λIII) of 0°, Io is below the normal plane of the magnetic field (this occurs with λIII between 290° and 110°).  The ion flux from the plasma torus is greatest over the north polar region of Io, causing greater excitation and increasing the brightness of Io's red auroral glows over the north pole.  Jupiter's magnetic field lines are also tilted with respect to Io's equatorial plane, so they are tangent to surface north of the equator near Io's sub-Jovian point, and south of the equator near the moon's anti-Jovian point.  When the λIII longitude is between 110° and 290°, Io's situation is reversed as it is now above the plasma torus.  This time, the south pole limb emissions are brighter than the north's, and the equatorial glows (that aren't related to volcanic plumes) have switched hemisphere as they are now bright south of the sub-Jovian point and north of the anti-Jovian point. This cycle recurs every 12.95 hours, the synodic period between Io's orbital period and the rotational period of Jupiter's magnetic field.

A word should be said about one of the mysteries regarding Galileo and New Horizons eclipse observations of Io: scattered around the sub-Jovian and anti-Jovian points on the satellite are a great number of glowing spots.  These spots appear similar to hot spots in size and intensity, but their concentration is much greater than the rest of the satellite.  Each of these spots can be correlated with a volcanic feature in Voyager images of this region.  Other infrared observations of the satellite suggest that thermal emission is not higher in these regions compared to the rest of Io, so the spots are probably not thermal emission from high-temperature lava.  As you can see in the image at left, the glows seem to be concentrated north of the equator near the sub-Jovian point (the white lines in the image are the equator [horizontal line] and the prime meridian [curved vertical line]), consistent with the tangent point of the Jovian magnetic field lines at the time of this observation.  From this one could surmise that these spots are the result of glowing gases rather than thermal emission.  But what would concentrate these gases into discreet spots that "look" like hot spots? One theory that I favor suggests that these spots are related to gases being slowly leaked from Io's interior at cooler volcanoes.  Not enough gas is released at these volcanoes to form plumes, but there is enough of sulfur dioxide that their auroral emissions are brighter than the surrounding regions.  They show up near the sub- and anti-Jovian points and not in other regions, not because there are more volcanoes there, but because Jupiter's magnetic field lines, and the electrons that are transported along them, connect to Io in these two regions.  This increased electron flux increases the brightness of the auroral emissions.

Future missions to Io will certainly use this technique to monitor changes in Io's volcanic activity and atmospheric emissions.  Narrow-band filters on future cameras would allow researchers to focus on specific line emissions from various chemical species such as atomic oxygen, sulfur, and sodium.  They would also allow for improved measurements of hot spot temperatures.  With increased bandwidth, more images using different filters can be taken during each eclipse, allowing for temporal variability of auroral and volcanic thermal emission to be monitored.  Finally, these measurements will allow researchers to determine the contribution outgassing from smaller volcanoes provides to Io's atmosphere.  Previously modeling focused on the contribution a few volcanic plumes provide, but not weaker outgassing from cooler, but more numerous, volcanoes.

References:
Cook, A. F.; et al. (1981). "Volcanic Origin of the Eruptive Plumes on Io". Science 211 (4489): 1,419–1,422.
McEwen, A. S.; et al. (1997). "High-temperature hot spots on Io as seen by the Galileo solid state imaging (SSI) experiment". Geophysical Research Letters 24 (20): 2443–2446.
McEwen, A. S.; et al. (1998). "High-Temperature Silicate Volcanism on Jupiter's Moon Io". Science 280 (5373): 87–90.
Geissler, P.; et al. (1999). "Galileo Imaging of Atmospheric Emissions from Io". Science 285 (5429): 870–874.
Geissler, P.; et al. (2001). "Morphology and time variability of Io's visible aurora". Journal of Geophysical Research 106 (A11): 26,137–26,146. 

Friday, March 5, 2010

31st Anniversary of Voyager 1 Flyby of Io

Today is the 31st Anniversary of the Voyager 1 spacecraft flyby of Io.  Last year, I wrote a retrospective series on this encounter, the images acquired, and the discovery of active volcanism on Io:
I should also point out that the Voyager navigation engineer, Linda Morabito Meyer now has her own website and blog, http://www.lindamorabito.com/.  Definitely worth checking out!

    Thursday, July 9, 2009

    30th Anniversary of the Voyager 2 Flyby of Jupiter

    Thirty years ago today, on July 9, 1979, the Voyager 2 spacecraft encountered Jupiter from a distance of 650,000 kilometers about its cloudtops, marking the second Voyager project flyby of the planet. The encounter provided an opportunity to see the anti-Jupiter hemispheres of Ganymede and Callisto, to monitor changes on Jupiter and Io since the Voyager 1 encounter four months earlier, and to observe Europa up close for the first time.

    Back in March, we took an extensive look at the Voyager 1 encounter with Jupiter and Io. The Voyager 1 flyby provided a revolution in our understanding of the giant planet and turned the four Galilean satellites from mere points of light we were only beginning to understand into four separate worlds, each with their own unique geologies. In particular, during the Voyager 1 encounter, active volcanism was observed on Io as well as a narrow ring around Jupiter.

    For Io, the second Voyager encounter did not provide the same revolution in our understanding of that world; the clear star of the July 9 encounter was the cracked world of Europa. While Voyager 1 flew within 20,000 kilometers of Io on March 5, 1979, Voyager 2's trajectory kept the spacecraft outside Europa's orbit and, with Io on the other side of Jupiter during closest approach, Voyager 2 never came close than 1,128,000 kilometers of Io. However, the discovery of active volcanism on Io by Voyager 1 necessitated a change in the schedule of observations for the second encounter, including a 8-hour long sequence of images of a narrowing crescent Io as Voyager 2 receded from Jupiter. This prolonged observation sequence allows Voyager 2 to monitor volcanic plumes along Io's limb, including those at Amirani, Maui, and Loki. From observations such as these, Voyager 2 found that most of the plumes first observed by Voyager 1 were still active during the July 1979 encounter. Only Pele appeared to have shut down, though later observations by Hubble, Galileo, and other spacecraft seem to suggest that the Pele plume is intermittently active. Volund was not observed near the limb of Io during the Voyager 2 encounter, so it could not be determined if that plume was still active.

    Earlier, Voyager 2 had observed Io while it was more illuminated by the Sun, like the image at left. The goal of these observation was to search for surface changes on Io as the result of volcanic activity between the two Voyager encounters. Among the changes observed were two new plume deposits surrounding Surt (probably active during a short, intense eruption in June 1979, but Surt was not viewed near the limb by Voyager 2 to see if it was still active) and Aten Patera. The presence of these changes from large plumes but without the observation of the plumes associated with them have led to the conclusion that large, Pele-type plumes tend to be short-lived compared to more persistent, smaller dust plumes like at Prometheus. Additional surface changes included a larger dark area within Loki Patera, the result of overturning of more surface area of the lava lake that covers much of Loki, and a change in the shape of the Pele plume deposit, from a heart shape to an oval. Subtle changes in the shape and intensity of the Pele plume deposit were also observed by Galileo in the late 1990s and early 2000s.

    Of course, Io wasn't the only world Voyager 2 observed during its encounter 30 years ago. The star of the show was Europa. Europa was poorly observed during the previous Voyager encounter so this one really provided a great leap in our understanding of this icy world. Like Ganymede, Europa's surface was dominated by tectonic structures, ridges and dark, linear bands that criss-cross the surface. Unlike Ganymede, Europa's surface was found to be quite young with very few impact craters, though enough to show that the satellite's surface was much older than Io's. Spectral measurements suggesting a water ice surface, mass estimates between that of Io and Ganymede, and youth surface age soon led to the suggest that just beneath Europa's ice shell lay a liquid water ocean that today is a main focal point for exploration in the Jupiter system.

    Voyager 2 never got the same amount of attention that the earlier Voyager 1 encounter did. During the same week, Skylab was slowly approaching its destruction over Australia, dampening press interest in the encounter, along with the perception that this encounter was covering similar territory as the previous one. But Voyager 2 provided an opportunity to follow up on the discoveries made by Voyager 1 by allowing for an adjustment to the observation plan, such as to monitoring Io's volcanic plumes and Jupiter's narrow ring system as Voyager 2 receded from the giant planet. Voyager 2 also allowed imaging scientists to fill out the global map of Ganymede and Callisto by observing their anti-Jovian hemisphere and providing the first close-up look of Europa. The Voyager 2 encounter unfortunately also began a 17-year gap in close-up spacecraft imaging of the Jupiter system. But Voyager 2 went on to bigger and better things, including doing followup observations of the Saturn system in August 1981 as well as our only encounters of Uranus and Neptune in 1986 and 1989, respectively.

    For this post, I have posted some movies on Youtube created in Celestia showing the geometry of this encounter:
    Over at UMSF, Paul Schenk, a planetary scientist at the Lunar and Planetary Institute in Houston, Texas, shared some of his memories of the Voyager 2 encounter.

    Tuesday, March 10, 2009

    A Final Look Back at Voyager 1 at Io

    Over the last few days, we've been taking a look back at the Voyager 1 encounter with Jupiter and its volcanic moon, Io, that took place 30 years ago on March 5, 1979. For those of you who are just joining us, here are some quick links to those posts:
    For this post, I want to wrap up our coverage of the anniversary of the Voyager 1 flyby by look at how our view or model of how Io works changed as a result of the flyby and how that model compares to our perspective now.

    Before Voyager's close-up look in 1979, not much was known about Io. We knew from spectroscopic studies of Io and its environment that Io had sulfur on its surface and that is was surrounded by a cloud of sodium. From the earlier Pioneer 10 and 11 encounters, we also knew that Io was centered in one of Jupiter's radiation belt. This led to the hypothesis that the sodium cloud surrounding Io was the result of sputtering of an evaporite deposit, rich in sulfur and halite (also known as table salt), on Io's surface. In terms of its interior and geology, Io was expected to have an ancient surface similar to Earth's own moon considering that both worlds have a similar size and mass.

    This model obviously changed as a result of the Voyager 1 flyby. Instead of an ancient surface, Voyager found a geologically active world with volcanism and mountains produced through tectonic motion. The images and spectra returned by the spacecraft provide brilliant confirmation for the model by Stan Peale, Patrick Cassen, and R. T. Reynolds that Io's interior was heated by the varying tidal pull of Jupiter on Io. This variation in the tidal pull is the result of the forced eccentricity in Io's orbit induced by the moon's orbital resonance with two other Galilean satellites of Jupiter, Europa and Ganymede. Over the next few years following the Voyager flybys, two competing models of Io's interior and geology developed. Simplifying things a bit, the two models basically attempted to explain what the composition of Io's lavas were.

    In one model, all the volcanism on Io could be explained with sulfur. In this model, Io was overlain with a thick layer of sulfur and sulfur dioxide. The top layer of this sulfur would be solid, but it liquefied the further down you went, until you had a nearly global sulfur ocean underlying a solid sulfur crust. Imagine Europa with its water ice shell and water ocean underneath, but with sulfur instead of water. The multi-colored flows Voyager observed were explained as being the result of sulfur and its various allotropes flowing out across the surface; the dark volcanic pits were filled with boiling, pitch black sulfur. Underlying this sulfur shell was the silicate lithosphere. This lithosphere had to be active itself, as the mountains on Io had to consist primarily of silicates in order to sustain the heights seen by Voyager. In these cases, the mountains consist of parts of the silicate crust poking up above the sulfur shell. Silicate volcanism was thought possible beneath this shell, as silicate magma reaches up to the level of the sulfur-silicate interface before forming a sill and heating the sulfur above it. This model of primarily sulfur volcanism was supported not only by Io's multi-colored surface, but also by the temperatures seen at Io's volcanoes by the IRIS instrument on Voyager.

    In the other model of Io's interior and volcanism, Io's crust consisted primarily of silicate rock with only a thin veneer of sulfur and sulfur dioxide. In this case, Io's lavas consisted of silicate rock, like volcanism on Earth (with some exceptions), with a sulfur enrichment. At the time of the Voyager flybys, this model was supported by the topographic structures visible on Io, which were not thought to be supportable by a crust that consisted primarily of sulfur. However, the thermal data to back it up didn't really come until 1986 when an eruption on Io's leading hemisphere was observed from Earth, and the blackbody radiation temperatures of the eruption were too high to be explained by sulfur. Other eruptions, including an eruption at Surt in June 1979, also had temperatures too high to be explained by sulfur. The lower temperatures seen by Voyager could be explained by the fact the IRIS instrument's wavelength band-passes were in the mid-infrared, wavelengths too long to sense the high-temperatures consistent with silicate volcanism. The discoveries made by Galileo in the 1990s and early 2000s seemed to put the nail in the coffin for the sulfur volcanism model as high-temperature volcanism (> 1000 K) was observed at many active volcanoes on Io and absorption bands consistent with orthopyroxene were found in some of Io's pyroclastic deposits.

    The current consensus view of Io's volcanism, interior, and geology is in many ways seems like a merging of these two models. This consensus view was published in 2004 by Keszthelyi et al.. In this model, Io's crust consists primarily of silicate rock. As depth decreases, or as your approach the surface from Io's interior, the amount of sulfur in the lithosphere increases. This sulfur and sulfur dioxide is constantly being brought back up the surface, or recycled, by silicate volcanism. However, as silicates rise through the lithosphere from deeper magma reservoirs, they stall out as they become neutrally buoyant and form sills. These sills heat up the sulfur near it, which then melt, forming a depression on the surface and leading to sulfur volcanism (and some silicate volcanism as well). Over time, this depression deepens, allowing more silicates to reach the surface until the sill is unroofed and the bottom of the depression, or patera, becomes a silicate lava lake. I posted a more detailed explanation of this process last week.

    The Voyager encounter with Io in March 1979 greatly increased our knowledge of Io as well as the rest of Jupiter system. It changed how we view the worlds of the outer solar system, making us scientists always expect the unexpected when we look at these worlds, even with an orbital mission like Cassini, where we have found active cryovolcanism on Enceladus and a dynamic climate system on Titan capable of producing large lakes at that moon's pole and great sand dune seas and canyonland terrain in the equatorial region.

    It has been a pleasure looking back at the Voyager encounter with all of you. I hope you all enjoyed the mosaics I have put together over the last few days :) And thanks to Emily Lakdawalla for the shout-out on her blog.

    Monday, March 9, 2009

    Taking another look at Voyager 1 images of Io

    Today I got finished processing three additional mosaics from Voyager 1 images. The first two use narrow-angle camera images acquired shortly before the encounter, and the other uses wide-angle camera images during the spacecraft's closest approach to Io on March 5, 1979.

    The first mosaic uses images acquired as support imaging for the Photopolarimeter Subsystem on Voyager. The PPS acquired a north-south scan across the center of the disk to measure information about Io's surface texture and bond albedo. Click here to see the ISS-NA mosaic at full-resolution. This mosaic runs from Acala Fluctus, across the flows that radiate out from Ra Patera, Kava Patera, and ends on the northern flanks of Euboea Montes. This mosaic cross high-sun terrain, so albedo markings are emphasized over topographic shading, though some mountainous features, such as Iopolis Planum and Euboea Montes, both in the bottom frame, can be seen. This mosaic has a resolution of 610 meters per pixel.

    The second mosaic uses images that were part of a high-resolution mosaic design over the south polar region of Io. Click here to see this ISS-NA mosaic at full-resolution The terrain here is much closer to the terminator, so more topographic features are clearly visible. For example, several tall mountains are visible along the terminator, the line between day and night, including Haemus Montes at bottom left. Some of the low plateaus visible, such as Echo Mensa (the rounded rectangular mesa at center bottom) and the western part of Nemea Planum (to the northeast of Echo) appear eroded, potentially from sapping of Sulfur dioxide, though no evidence of recent sapping, like bright material along the base of the low cliffs at these features, is visible. Such evidence can be more clearly seen at the eastern end of Nemea and in a fracture to the west of Echo.

    The final mosaic consists of two, violet-filter wide-angle camera images acquired during Voyager 1's closest approach to Io. Click here to see this ISS-WA mosaic at full-resolution. These two images show similar terrain to the other mosaics I've posted here in the last few days, but what makes these images exciting to me is what you can see along the limb on the left side of the mosaic. This region shows feature that I had thought had only been seen at much lower resolution. These images have a pixel scale of 2 km/pixel, whereas the previous best I could find has a resolution of around 9.5 km/pixel. So obviously, this appears to be a significant improvement. Among the features visible is the Masubi flow field (at lower left, also see the cropped image at the top of this post), a semi-persistent volcanic plume source. This feature is notorious for having plumes that jump around along the length of the flow field as well as having plume with multiple source vents (such as during the Voyager 1 and New Horizons encounters). In this mosaic, you can see a plume deposit around the main vent, a V-shaped flow field (not quite sure where the source patera, but I have an idea). There appears to be a disconnect between the flow to the south and the main V-shaped field, not sure how real that is, or if the flow connecting the two was quite narrow, akin to the connection between the Amirani and Maui flows fields. These WACs seem to close the notorious gap between the Voyager and Galileo high-resolution coverage that existed between 40 and 60 West, at least south of the equator, which I am excited to see.

    Tomorrow, I will close out my coverage of the 30th Anniversary of the Voyager 1 flyby by looking at the post-Voyager perspective on Io and how it compares to our view now.

    Sunday, March 8, 2009

    30th Anniversary of the Discovery of Volcanism on Io

    Imagine you were a scientist on the Voyager Imaging Team 30 years ago today. Only days before, Voyager 1 had passed through the Jovian system, returning thousands of images of Jupiter and its moons. The Galilean moons Voyager revealed had strange and fascinating vistas: cratered Callisto, grooved Ganymede, streaked Europa. Perhaps the strangest of these four worlds was Io. It was clear from the images that were coming down in the days following Voyager's close pass that Io was a world that was constant renewing its surface. Instead of impact craters that were prevalent on most worlds, Io had none and was covered in apparent volcanic features. Given the lack of impact features on the surface, Io was likely even active today.

    On Friday, March 8, 1979 at 13:28 UTC, Voyager 1 pointed its narrow-angle camera at Io, 4.5 million kilometers away, one last time. Thirty-eight minutes later, the image was received on Earth. The image was taken to help establish the position of Voyager in space. By comparing the position of Io in the image with known background stars also found in the image, the navigation team could determine if additional maneuvers were needed to keep the spacecraft on track for an encounter with Saturn in November 1980. This task was assigned to Linda Morabito, the cognizant engineer of the Optical Navigation Imaging Processing System at JPL. Among the first things she saw when looking at this image, just as you might have when you saw the same image above, was the crescent-shaped feature just off the limb of Io. Over the next day, she and other Voyager navigation engineers and scientists worked to eliminate the possibilities of what this feature could be. When the crescent, now thought of as a cloud was shown to be assocated with a possible volcanic feature (now known as Pele), this seemed to nail this down as a volcanic plume. There was even another plume (now known as Loki) just beyond the terminator, catching the first bits of morning sunlight.

    A more detailed account than I can ever give of the discovery of volcanism on Io can be found on the Planetary Society website and was told by none other than Linda Morabito Kelly.

    The discovery of active volcanism on Io was announced at a press conference on Monday, March 12, 1979. By then more plumes had been found as earlier images of Io were re-examined and areas of high thermal emission were being found by Voyager's Infrared Interferometer Spectrometer (IRIS) . For example, in the mosaic I posted earlier today (and if you haven't checked that out, I couldn't recommend to do so more!), two plumes are visible along the limb: Masubi and Pele. I've created a special version showing these plumes in the mosaic. Masubi is at lower left and Pele is at right. These two plumes show the two main types of plumes on Io. Masubi is a smaller, dust plume, also known as a Prometheus-type plume. It has an umbrella-like shape, with a dense central column (in this case TWO central columns) and a bright shock canopy. Pele is the archtype of the Pele-type or gas plumes. In this case, there is no central, dense, eruption column and the shock canopy has a filamentary structure.

    I guess for me, the discovery of active volcanism on Io was perhaps more significant for me personally than the Apollo landings, or any of the other major events in the history of spaceflight. While I was not around for either event (I hate to make some of you feel any older, but yes, I was still 4.5 years away when Voyager 1 flew by Jupiter), that discovery, along with the Galileo and Cassini missions were most significant for me to decide to work in this field. Seriously, I could have been in law school right now. Thanks Voyager 1!

    Later today, I will be working on a few more mosaics from Voyager 1, though these won't be anywhere nearly as big as the one I posted earlier today. Seriously, have you checked it out yet‽ One will be a reprocessing of the PPS support imaging strip and the other will be a higher resolution mosaic over Io's south polar region. I am trying to stick using the Voyager imaging teams different mosaic designs when deciding which images to use for these mosaics. That's why Loki is missing in the Southern Hemisphere mosaic; it wasn't covered in that mosaic design. It WAS covered in the lower resolution, 4-color northern hemisphere mosaic, but that one has a lot more missing images and smeared images, so it will take me a bit longer to figure out how to parse that one down.

    And have you checked out that mosaic I did earlier ;)

    Link: Discovery of Io's Volcanoes [members.fortunecity.com]

    Voyager 1 Southern Hemisphere Mosaic

    It only took a year but I finally finished the huge, southern hemisphere mosaic of Io using images acquired by Voyager 1 in March 1979.

    This mosaic uses 33 images acquired by the narrow-angle camera on-board Voyager 1 shortly before the spacecraft's encounter with the volcanic moon. Click on the image at right to embiggen, but click here if you want to see the full resolution version (warning: 5 MB PNG file). This mosaic is in an orthographic map projection with a pixel scale of 730 m/pixel. The central latitude and longitude of the mosaic is 18.23 South, 317.64 West, though the images in this mosaic generally cover only the southern hemisphere. For details on what features are covered by this mosaic, check out the labeled version I have created.

    This mosaic reveals a number of volcanic features: patera, flow fields, tholi, plumes (though I still need to finish the version that highlights them, the Masubi and Pele plumes are visible in some of the limb images used to make this mosaic), in various shapes and sizes. Paterae in the south polar region tend to be larger than those nearer to the equator, suggestive of differences in lithospheric properties and magma source regions in Io's mantle.

    I will talke a bit more about this mosaic later today, and talk a little about the discovery of volcanism on Io that took place 30 years ago today. But for now, I need sleep.

    Thursday, March 5, 2009

    More on the 30th Anniversary of the Voyager 1 Encounter

    I found a copy online of the NASA publication, "Voyage to Jupiter," by David Morrison and Jane Samz. This publication provides some great insights into the Voyager encounters with Jupiter in 1979, the science investigations the two spacecraft performed and the new knowledge they obtained. The document also has a day-by-day account of the activities of the spacecraft and the science and engineering teams for both Voyager encounters. Below is an excerpt covering the Io encounter by Voyager 1, 30 years ago today. Don't forget to check out the post immediately below this one for some of my own thoughts and a nice animation of the encounter with Io. Later this week, I will post more about the discovery of active volcanism on Io, which occurred a few days after the flyby, and on how scientists viewed Io and its geology following the encounter.
    Monday, March 5. Many celebrities, including the Governor of California, spent the night at JPL to witness the historical occasion. In Washington, D.C., as special TV monitor was set up in the White House for the President and his family.

    Shortly before closest approach to Jupiter, Voyager began its intensive observations of Io. Much of this information, taken while the Australian station was tracking the spacecraft, was recorded on Voyager's onboard tape-recorder for playback later that day. But even before the results of that imaging were known, Larry Soderblom was calling Io "one of the most spectacular bodies in the solar system." As more and more vivid photos of Io appeared on the monitors, members of hte Imaging Team in the Blue Room buzzed with excitement. "This is incredible." "The element of suprised is coming up in every one of these frames." "I knew it would be wild from what we saw on approach but to anticipate anything like this would have required some sort of heavenly perspective. I think this incredible."

    At 7:35 a.m. Voyager was scheduled to pass through the flux tube of Io, the region in which tremendous electric currents were calculated to be flowing back and forth between the satellite and Jupiter. Norm Ness suggested, after examining the magnetometer data, that Voyager skirted the edge of the flux tube, and that the current in the tube was about one million amps. As the flux tube results were received, champagne bottles began to pop in the particles and fields sciences offices, in celebration of the successful passage through the inner magnetosphere. Meanwhile, at 7:47 a.m., closest approach to Io occured, at a range of only 22 000 kilometers. Voyager was 25 000 times closer to this satellite than were the watchers on Earth.

    At 8 a.m. a special press conference was held to mark the successful Jupiter flyby. Noel Hinners, Associate Administrator for Space Science and the highest ranking NASA official present, congratulaed all those who made the Voyager Mission a success. The encounter was the "culmination of a fantastic amount of dedication and effort. The result is a spectacular feat of technology and a beginning of a new era of science in the solar system. Just watching the data come in has been fantastic. I had a fear that things on the satellites were going to look like the lunar highlands. Nature wins again. If we're going to see exploration of this nature occurring in the 1980s and 1990s we must continue to expound the results of what we're finding here, the role of exploration in the history of our country, what it means to us as a vigorous national society."

    At the regular 11 a.m. press briefing, Brad Smith glowed. "We're recovering from what I would call the most exciting, the most fascinating, what may ultimately prove to be the most scientifically rewarding mission in the unmanned space program. The Io pictures this morning were truly spectacular and the atmosphere up in the imaging area was punctuated by whoops of joy or amazement or both." The new color photo of Io taken the night before was released, showing strange surface features in tones of yellow, orange, and white. The image defied description; the Imaging Team used terms like "grotesque," "diseased," "gross," "bizarre." Smith introduced the picture with the comment, "Io looks better than a lot of pizzas I've seen." Larry Soderblom added, "Well, you may recall [that we] told you yesterday that when we flew by we'd figure all of this out. I hope you didn't believe it."

    One thing was certain: There were no impact craters on Io. Unless the satellites of Jupiter had somehow been shielded from meteoric impacts that cratered objects such as the Moon, Mars, and Mercury, the absence of craters must indicate the presence of erosion or of internal processes that destroy or cover up craters. Io did not look like a dead planet. Imaging Team member Hal Masursky, looking at the "pizza picture, estimated that the surface of Io must be no more than 100 million years old -- that is, some agent must have erased impact craters during the last 100 million years. This interpretation depended on how often cratering impacts occur on Io. No one could be sure that there had been any interplanetary debris in the Jovian system to impact the surfaces of the satellites. Perhaps none of them would be cratered. The forthcoming flybys of Ganymede and Callisto would soon provide this information.

    As encounter day drew to a close, celebrations took place all over JPL. For many, however, the excitement was tempered by exhaustion. After 48 hours of intense activity, sleep was imperative for some. But the close approach to Callisto was still to come, as was an examination of the data already received.
    Link: Voyage to Jupiter [eric.ed.gov]

    More »

    30th Anniversary of the Voyager 1 flyby of Io

    30 years ago today, the Voyager 1 spacecraft encountered the first planet in the Voyager programs decade-long epoch tour of the outer solar system. While Pioneer 10 and 11 were the first space probes to reach Jupiter, proving passage through the asteroid belt was possible, Voyager 1 opened up the worlds of Jupiter system to humanity, turning these moons from mere points of light into fully-realized worlds.

    Voyager 1 flew within 19,000 km of Io, making it the best resolved world during the spacecraft's passage through the Jupiter system. The world Voyager 1's cameras revealed was unlike anything planetary scientists. Instead of being dead with numerous impact craters, like our own moon, they found a world with strange pits, flow terrain, an incredible diversity of albedo markings, and mountains 10-20 km tall. Global mosaics revealed a dark, horseshoe shaped pit, an albedo marking shaped like a hoof-print (in keeping with the myth of Io, a lover of Zeus who was transformed into a cow to protect her from Zeus's wife, Hera).


    Animation of the Voyager 1 Flyby of Io on March 5, 1979

    Voyager 1's highest-resolution images covered the southern pro-jovian hemisphere of Io, an area not seen again at high resolution (Galileo's best images of the region were on the order of 10-20 km/pixel). You can see my attempt to piece together Voyager 1's highest resolution mosaic, though I can't seem to find where I put the original project files... These images revealed numerous large, volcanic pits, low scarps that cross Io's generally flat terrain, and large mountains. But not a single impact crater, unlike any other solid-body world in the solar system imaged to that point.

    Recent volcanic activity on Io would explain the lack of impact craters on its surface. Within a short time after a crater forms, the feature is filled in with lava and pyroclastic material. An explanation for these amazing images came in the form of a paper published in the journal Science only three days before the Voyager encounter by Stan Peale, Patrick Cassen, and R. T. Reynolds. They suggested that the varying tidal pull on Io by Jupiter, created by the orbital resonances with the other Galilean satellites, would heat up and partially melt Io's interior. This internal heat would then be released in the form of volcanic activity.

    This only left the question of whether Io was still active.

    Voyager 1 provided a wealth of information about not just Io, but the other moons in the Jovian system as well as Jupiter itself. Images revealed three additional small moons of Jupiter (later named Metis, Adrastea, and Thebe) orbiting near Amalthea, as well as narrow ring of material confirming a prediction made by Acuña and Ness 1976 based on Pioneer charged particle data. Voyager 1's cameras also revealed in detail the cratered and grooved surface of Ganymede and the ancient surface of Callisto. The spacecraft never came very close to Europa and could only hint at the amazing surface features seen by Voyager 2 four months later and Galileo 16 years later. Voyager imaging scientists did note a lack of obvious impact features as well as dark, linear streaks criss-crossing Europa's surface.

    The Voyager 1 flyby of the Jupiter system 30 years ago today truly opened up the moons of the outer planets to humanity. The robotic explorer transformed the four Galilean satellites from points of light in the sky to worlds with geology and amazing vistas. The discoveries made at Io, of a world of abundant active volcanism, were perhaps the most amazing of a truly incredible encounter. Later this week, we'll look back at the discovery of active volcanism on Io and on the post-Voyager view of Io's interior and how it compares to our view now.

    Sunday, February 1, 2009

    Common Features Among Io's mountains

    After this week's Boösaule Montes post, I thought it would be good to do a more general mountain post. I actually think I will write up a few such posts. This first one will discuss common features seen among Io's more than 150 positive-relief features. This post is based on discussion of this topic in "The mountains of Io: Global and geological perspectives from Voyager and Galileo" by Paul Schenk, Henrik Hargitai, Ronda Wilson, Alfred McEwen, and Peter Thomas. This paper was published in the Journal of Geophysical Research in December 2001.

    Perhaps the most common attribute of all mountains on Io are that they have experienced some form of degradation. In other words, no mountains appear prestine, despite the relatively young age of Io's mountains. Assuming an average deposition rate across Io surface of one cm per year, every part of Io's surface should be covered in ten km of material in one million years. Ten km is more than the average height of mountains on Io, so most mountains are probably younger than that. Degradation of mountains comes in the form of mass wasting which can take several forms. First, slumping on steep slopes can dislodge large blocks down slope or form thick, fan-shaped deposits. The latter case was mentioned before at Boösaule Montes "South". Slumping on shallower slopes, like on the top of Hi'iaka Montes "North", can form ridges perpendicular to the direction of slumping. The ridges are crumpled up material from the upper layers of the plateau. In other cases, long-runout landslides can result from more rapid mass movement of material. These can form deposits a few-hundred meters thick that can reach as far as a couple hundred km from the mountain.

    A third form of degradation is sapping. Sapping a geologic process by which volatiles exit a slope, usually as a groundwater spring on Earth. On Io, because there is no air pressure to speak of, this process is much more explosive. Sapping is thought to create the spur-and-gully morphology seen on many Ionian plateaus, as seen at Tvashtar Mensae at left. While the sulfur dioxide sublimates away during the explosion, more solid materials is transported downslope, forming deposits a couple hundred meters thick. Again, you can see the leading edge of this deposit at Tvashtar along the bottom right side of the image. At some mountains, sulfur dioxide is released without apparent erosion but instead leaves a bright deposit of frost. This is particularly common at mountains in Io's polar regions, like Haemus Montes, but has been seen in action closer to the equator, such as at Pillan Mons.

    Certain structural features are commonly seen on Io's mountains. For example, striations, representing either pre-existing layers in Io's crust or fault lines from imbricate-style faulting produced during the mountain's uplift, are seen at several mountains such Haemus Montes. Another common feature is central rifting. In this case, the mountain appears as if it has been split apart with a canyon running down the long axis of the feature. This was seen at Boösaule Montes "North" in the earlier post but can also be seen at other mountains such as Pan Mensa and Danube Planum.

    Many mountains have structural similarities. There are the low plateaus: relatively flat mesas with smooth or rough top surfaces and steep basal scarps (that are often arcuate as a result of sapping). These plateaus are often two to four km in height. Another interesting mountain type is the double ridge. These mountains have two parallel ridges with a central valley in between. Two examples of an Ionian double ridge include Ionian Mons and Mongibello Mons. Another mountain type is the flatiron, as seen at Gish Bar Mons above. Flatiron mountains have an asymmetric profile, with a relatively shallow slope on one side and steeper, more rugged slopes on the other sides. Schenk et al. surmise that these mountains are produced by thrust faulting with the smooth slope representing the formerly flat surface and the steeper slopes revealing a cross-section of the upper lithosphere of Io. These are the tilted crustal blocks highlighted in Schenk and Bulmer 1998.

    A final common trait among Ionian mountains is their proximity to volcanic depressions, known as paterae, despite not being volcanoes themselves (with a few rare exceptions). An example of this is Gish Bar Mons, whose southern flank is also the northern rim of Gish Bar Patera. According to Schenk et al. 2001, 30% of mountains on Io have flanks within 5 km of paterae. 10% of paterae, according to Radebaugh et al. 2001, lie next mountains. One reason for this correlation may be that magma exploit weaknesses in the crust, including faults associated with mountain building. This process then leads to paterae formation, which if Keszthelyi et al. 2004 is correct, would involve the formation of volcanic intrusions in the upper layers of the crust which then drive off volatiles in the crust above the intrusion and melt the rest, until a depression is formed down to the level of the sill.

    In the next Mountains post, which I will try to post sometime later this week, we will look at what the distribution of mountains on Io can tell us about Io's crust.