planned for Junos extended mission on December 30, 2023, and February 3, 2024, both with altitudes of 1,500 kilometers. Nine additional encounters with altitudes between 11,500 and 94,000 kilometers are also planned between July 2022 and May 2025. The primary goal of these encounters will be to improve our understanding of Io's gravity field using doppler tracking and to image Io's surface to look for surface changes since Io was last seen up-close in 2007. During several orbits, Juno has observed Io from a distance using JunoCAM, a wide-angle, visible-light camera, to look for volcanic plumes and JIRAM, a near-infrared spectrometer and imager, to monitor thermal emission from Io's volcanoes. JIRAM near-infrared spectroscopy has so far allowed for the coarse mapping of sulfur dioxide frost across Io's surface as well as mapping minor surface components weakly absorbing sunlight at 2.1 and 2.65 µm. Future missions There are two forthcoming missions planned for the Jovian system. The Jupiter Icy Moon Explorer (JUICE) is a planned European Space Agency mission to the Jovian system that is intended to end up in Ganymede orbit. JUICE is scheduled for launch in 2023, with arrival at Jupiter planned for July 2031. JUICE will not fly by Io, but it will use its instruments, such as a narrow-angle camera, to monitor Io's volcanic activity and measure its surface composition during the two-year Jupiter-tour phase of the mission prior to Ganymede orbit insertion. Europa Clipper is a planned NASA mission to the Jovian system focused on Jupiter's moon Europa. Like JUICE, Europa Clipper will not perform any flybys of Io, but distant volcano monitoring is likely. Europa Clipper has a planned launch in 2024 with an arrival at Jupiter in 2030. The Io Volcano Observer (IVO) was a proposal to NASA for a low-cost, Discovery-class mission selected for a Phase A study along with three other missions in 2020. IVO would launch in January 2029 and perform ten flybys of Io while in orbit around Jupiter beginning in the early 2030s. However, the Venus missions DAVINCI+ and VERITAS were selected in favor of those. Orbit and rotation Io orbits Jupiter at a distance of from Jupiter's center and from its cloudtops. It is the innermost of the Galilean satellites of Jupiter, its orbit lying between those of Thebe and Europa. Including Jupiter's inner satellites, Io is the fifth moon out from Jupiter. It takes Io about 42.5