The largest gaps in the rings are the Cassini Division and the Encke Division, both visible from the Earth. The Cassini Division is the largest, measuring wide. However, when the Voyager spacecrafts visited Saturn in 1980, they discovered that the rings are a complex structure, made out of thousands of thin gaps and ringlets. Scientists believe this is caused by the gravitational force of some of Saturn's moons. The tiny moon Pan orbits inside Saturn's rings, creating a gap within the rings. Other ringlets keep their structure due to the gravitational force of shepherd satellites, such as Prometheus and Pandora. Other gaps form due to the gravitational force of a large moon farther away. The moon Mimas is responsible for clearing away the Cassini gap.