A global ocean lies beneath the icy crust of Saturn's geologically active moon Enceladus, researchers have revealed.
They say the find explains the moon's wobble, and mysterious icy sprays seen at its south pole.
The findings show the fine spray of water vapour, icy particles and simple organic molecules Cassini has observed coming from fractures near the moon's south pole is being fed by this vast liquid water reservoir.
Using data from NASA's Cassini mission, researchers found the magnitude of the moon's very slight wobble, as it orbits Saturn, can only be accounted for if its outer ice shell is not frozen solid to its interior, meaning a global ocean must be present.
The research is presented in a paper published online this week in the journal Icarus.
Previous analysis of Cassini data suggested the presence of a lens-shaped body of water, or sea, underlying the moon's south polar region.
However, gravity data collected during the spacecraft's several close passes over the south polar region lent support to the possibility the sea might be global, the team say.
The new results confirmed this.
'This was a hard problem that required years of observations, and calculations involving a diverse collection of disciplines, but we are confident we finally got it right,' said Peter Thomas, a Cassini imaging team member at Cornell University, Ithaca, New York, and lead author of the paper.
Cassini scientists analyzed more than seven years' worth of images of Enceladus taken by the spacecraft, which has been orbiting Saturn since mid-2004.
They carefully mapped the positions of features on Enceladus - mostly craters - across hundreds of images, in order to measure changes in the moon's rotation with extreme precision.
As a result, they found Enceladus has a tiny, but measurable wobble as it orbits Saturn.
Because the icy moon is not perfectly spherical - and because it goes slightly faster and slower during different portions of its orbit around Saturn - the giant planet subtly rocks Enceladus back and forth as it rotates.
The team plugged their measurement of the wobble, called a libration, into different models for how Enceladus might be arranged on the inside, including ones in which the moon was frozen from surface to core.
'If the surface and core were rigidly connected, the core would provide so much dead weight the wobble would be far smaller than we observe it to be,' said Matthew Tiscareno, a Cassini participating scientist at the SETI Institute, Mountain View, California, and a co-author of the paper.
'This proves that there must be a global layer of liquid separating the surface from the core,' he said.
The mechanisms that might have prevented Enceladus' ocean from freezing remain a mystery.
Thomas and his colleagues suggest a few ideas for future study that might help resolve the question, including the surprising possibility that tidal forces due to Saturn's gravity could be generating much more heat within Enceladus than previously thought.
'This is a major step beyond what we understood about this moon before, and it demonstrates the kind of deep-dive discoveries we can make with long-lived orbiter missions to other planets,' said co-author Carolyn Porco, Cassini imaging team lead at Space Science Institute (SSI), Boulder, Colorado, and visiting scholar at the University of California, Berkeley. 'Cassini has been exemplary in this regard.'
The unfolding story of Enceladus has been one of the great triumphs of Cassini's long mission at Saturn. Scientists first detected signs of the moon's icy plume in early 2005, and followed up with a series of discoveries about the material gushing from warm fractures near its south pole. They announced strong evidence for a regional sea in 2014, and more recently, in 2015, they shared results that suggest hydrothermal activity is taking place on the ocean floor.
Cassini is scheduled to make a close flyby of Enceladus on Oct. 28, in the mission's deepest-ever dive through the moon's active plume of icy material. The spacecraft will pass a mere 30 miles (49 kilometers) above the moon's surface.
Researchers say rather than having a solid stone centre, like the Earth or our own moon, Enceladus may be formed around a core of boulders and ice.
The gravitational pull of Saturn would cause this unconsolidated rubble to flex and move around, generating heat which would melt the ice above.
This tidal heating, according to the scientists, would be enough to prevent the ocean below the surface from freezing solid.
The theory, which was put forward by Dr James Roberts, a planetary scientist at Johns Hopkins University Baltimore, Maryland, may also mean the ocean on Enceladus is more hospitable than previously believed.
Scientists had previously believed Saturn's tiny moon needed extremely high concentrations of antifreeze agents such as ammonia to keep oceans from forming.
The existence of Enceladus's subsurface ocean has been suspected for some time since Nasa's Cassini spacecraft spotted plumes of vapour and ice shooting out from the moon's surface.
Measurements by Cassini have also detected several gigawatts of heat being emitted from beneath the surface.
Dr Roberts said: 'There are several reasons why a liquid water layer is suspected to exist beneath the ice shell.
I find that fragmentation of the core increases tidal dissipation by a factor of 20, consistent with the long-term dynamically sustainable level, even when the interior is completely frozen, but only if the interior starts out warm and tidal heating is strong from the beginning.
'Although an ocean need not be present in order for the interior to experience significant tidal heating, all models that dissipate enough heat to prevent runaway cooling are also warm enough to have an ocean.
'Tidal dissipation in the weak core provides an additional source of heat that may prevent a global subsurface ocean from freezing.'
Saturn has been found to have 62 moons orbiting around the giant gas planet. Many of these are frozen inactive worlds, while others show signs of tectonic activity.
Discovered in 1789 by astronomer William Herschel, Enceladus orbits around 147,500 miles from Saturn every 32.8 hours.
It is around 318 miles across, while temperatures on the surface rarely rise above -330°F (-201°C).
Yet despite this extreme cold, Enceladus appears to have an extremely young icy surface, which suggests it is geologically active.
Giant plumes of ice and water vapour have been seen shooting out into space from the surface.
This has suggested that beneath the scarred and icy surface, there is an ocean of liquid salty water which may even contain organic molecules.
However, with a solid rocky core, as was suspected, the moon would lose heat over millions of years and be unable to maintain this liquid layer.
According to Dr Roberts, whose work is published in the journal
Icarus, a soft, rubble-filled core would allow sufficient movement to produce enough heat to keep this layer liquid.
He found that an ocean beneath the surface would help to regulate the temperature of the moon's interior, preventing runaway cooling or widespread melting.
He added that it is possible the moon undergoes freezing and thaw cycles which leads to a rocky ocean floor.
Dr Roberts said: 'If the ocean cyclically freezes and thaws, the resulting expansion of the core fragments may result in size-sorting in the outermost layer of the core.
'During freeze cycles, meter-sized and smaller fragments may be suspended in a layer of dirty ice a few km thick, just above the core.
'During thaw cycles, these fragments form a regolith on the seafloor.'