Instead of craters, Voyager 1 found hundreds of volcanic
calderas (picture 3).
Some of the volcanoes are active! Striking photos of actual eruptions
with plumes 300 km high were
sent back by both Voyagers (picture 5).
This may have been the most important single
discovery of the Voyager missions; it was the first real proof that the
interiors of other "terrestrial" bodies are actually hot and active.
The material erupting from Io's vents appears to be some form of sulfur or
sulfur dioxide. The volcanic eruptions change rapidly. In just four months
between the arrivals of Voyager 1
and Voyager 2 some of them stopped
and others started up. The deposits surrounding the vents also changed
visibly.
Recent images taken with NASA's Infrared Telescope Facility on Mauna Kea, Hawaii
show a new and very large eruption
(picture 25).
A large new feature near Ra Patera has also been seen by
HST.
The first image from Galileo (picture 27) also
shows changes from the time of Voyager's encounter.
These observations confirm that Io's surface is very active indeed.