Jupiter's aurora produces a large amount of energy, over a million megawatts. Scientists are still studying Jupiter's aurora to understand how it differs from Earth's due to Jupiter's different magnetosphere. Jupiter has four large moons called the Galilean satellites discovered by Galileo Galilei in 1610. Jupiter also has a large persistent storm called the Great Red Spot that has lasted over 300 years. Additionally, Jupiter has a faint ring system composed of dust from small inner moons that was discovered by the Voyager spacecraft. Gravity on Jupiter's surface is over two and a half times stronger than Earth's due to Jupiter's large mass.