In fact, the Galilean moons are sometimes called a “mini solar system” since they formed from the leftovers of Jupiter similar to how Earth and other planets formed from gas and dust left over from the formation of the Sun. The similarities don’t end there. Each planet in the inner solar system is less dense than its inner neighbor – Mars is less dense than Earth, which is less dense than Venus, which is less dense than Mercury. The Galilean moons follow the same principle, being less dense the farther they are from Jupiter. The reduced density at greater distances is likely due to temperature: denser, rocky, and metal material condenses out first, close to Jupiter or the Sun, while lighter-weight icy material only condenses out at larger distances where it is colder., Jupiter’s large Galilean moons – Io, Europa, Ganymede, and Callisto – likely formed out of leftover material after Jupiter condensed from the initial cloud of gas and dust surrounding the sun, early in the history of the solar system., Jupiter’s moon Ganymede is proving to be a fascinating world. Not only is it the largest moon in our solar system, bigger than the planet Mercury and the dwarf planet Pluto, but NASA’s Hubble Space Telescope has found the best evidence yet for an underground saltwater ocean on Ganymede..