Mankind has been studying Jupiter for more than 400 years. But we've only been sending spacecraft there since the 1970s! Nine spacecraft have visited Jupiter since 1973, and they've discovered a lot about the planet. Flip through the slideshow below to find out about these spacecraft and what they've discovered.

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Page from "The Starry Messenger" by Galileo Galilei describing Galileo's observations of moons orbiting Jupiter with drawings showing a circle representing Jupiter and asterisks representing the moons

Pioneer 10 photo of Jupiter

Pioneer 11 photo of Jupiter's north pole

Animated video showing Voyager 1's approach to Jupiter

Artist's illustration of Ulysses at the sun

Series of photos from Galileo showing comet Shoemaker-Levy 9 colliding with Jupiter

Portrait of Jupiter, Io, Europa, Ganymede and Callisto made with photos from Galileo

Cassini image of Jupiter

New Horizons false color image of Jupiter and Io

Hubble Space Telescope photo of a scar on Jupiter caused by a comet impact

Animation of Jupiter images from HubbleYoutube video

Intense swirls of clouds cut across Jupiter's colorful stripes of clouds and gas and move from from the bottom of the image to the top in this up-close side-view of Jupiter.

Graphic illustrating the history of exploration at Jupiter