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The possibility that tidal dissipation in a thin ice crust was sufficient to preserve liquid water on Jupiter's satellite Europa was suggested by Cassen et al. (1979). However, their calculation of the tidal heating rate for that situation is in error; for the same parameter values, the actual heating rate would be much less than given in their paper. Thus, their conclusion regarding the possibility that liquid water exists today on Europa is considerably weakened. This paper corrects the calculation of the tidal dissipation rate in a Europan ice crust, and discusses the implications for Europa's thermal history, and clarifies certain aspects of the tidal heating problem.

It is possible that tidal dissipation in an ice crust on Europa preserved a liquid water layer beneath it, provided that the three-body orbital resonance for Io, Europa, and Ganymede is ancient. The liquid water layer could be a continuing source of the observed surface frost. If Europa's water mantle were ever completely frozen, heating by tidal dissipation would not exceed that produced by radioactive elements, and the mantle would remain frozen.

The structures and thermal evolutions of the large icy-satellites of the outer solar system are considered. It is shown (for bodies comparable in size and mass to the Galilean satellites, having sizeable mass fraction of H2O, and with meteoritic abundances of radioactive materials contained within their silicate fractions) that the crust of solid ice over a liquid mantle predicted by conductive heat-transfer calculations is unstable to large-scale solid-state convection. For appropriate material parameters, convective heat-transfer rates are sufficient to freeze a large liquid mantle on a time scale that is short compared to the lifetime of the body. It is also concluded that the ice layer is convecting at the present time. A reevaluation of previous work, using improved values for material parameters and boundary conditions, reverses earlier conclusions and implies a rigid outer crust with resulting long-term stability of surface features to creep deformation. The combination of a rigid crust with active internal convection presents the additional possibility of surface features that are produced and maintained by dynamic internal processes.

Numerical calculations of the dynamical ellipticity of the moon due to finite-amplitude solid-state convection indicate that convection could be the cause of the nonhydrostatic gravitational figure, but only if the lunar lithosphere is capable of resisting global scale deformation. Thus lithospheric inhomogeneities and surface loads could also contribute substantially to the disequilibrium of the gravity figure. The calculations also show that it is unlikely that the geometrical distortion is due to convection.