The global three-dimensional interaction of Europa with the Jovian magnetosphere is modeled by using a complete set of ideal magnetohydrodynamic (MHD) equations. The model accounts for exospheric mass loading, ion-neutral charge exchange, recombination, and a possible intrinsic dipole magnetic field of Europa. The single-fluid MHD equations are solved by using a modern, finite volume, higher-order, Godunov-type method on an adaptively refined unstructured grid, which allows detailed modeling of the region near Europa while still resolving both the upstream region and the satellite's wake. The magnetic field and plasma density measured during Galileo's E4 flyby of December 19, 1996, are reproduced reasonably well in the simulation. We find the agreement between the data and our model particularly convincing if we assume that the plasma velocity during the E4 flyby deviated from the nominal corotation direction by approximately 20¿. Evidence from the Galileo energetic particle detector also supports this assumption. In this case, we can fit the data using a dipole with orientation close to that of an induced dipole arising from the interaction of a hypothetical conducting subsurface layer on Europa with the periodically changing magnetic field of Jupiter. However, the magnitude of the dipole in our model is somewhat smaller (70%) than that suggested by Khurana et al. [1998>. The total mass loading and ion-neutral charge exchange rates are consistent with the estimates of Europa's atmosphere and ionosphere. ¿ 1999 American Geophysical Union