What is the difference between "magma" and "lava"?

Scientists use the term magma for molten rock that is underground and lava for molten rock that breaks through the Earth's surface. 

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Image: Lava Consuming Piece of Shrubbery

Lava Consuming Piece of Shrubbery

Lava was only slowly oozing from the edge of the flow adjacent to the road. In this photo, a piece of shrubbery is slowly consumed by the lava.

Image: Lava Tube Skylight

Lava Tube Skylight

A close-up view of the lava stream as seen through a lava tube skylight near the top of the Pulama pali. The lava is moving from right to left, and skylight opening is about 1 m (3 ft) across.