Sub-surface oceans probably exist on several large satellites of Jupiter and Saturn. An analysis of Europa's tides suggests that some of the Rossby waves are resonantly enhanced by the obliquity, producing sufficient heat and flow to keep the ocean liquid.
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Bills, B. Tidal flows in satellite oceans. Nature Geosci 2, 13–14 (2009). https://doi.org/10.1038/ngeo396
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DOI: https://doi.org/10.1038/ngeo396