This process is relatively safe and efficient.

PAARV is an autonomous amphibious robotic vehicle which is lowered as a sonde off a Titan aerial platform. The vehicle carries its own heat source, GN C, and C DH avionics/sensors, and an on-board suite of science instruments for sampling the atmospheric column, organic rich lakes, and solid ice/organic material along the surrounding crater rims. The vehicle has mobility in both liquids as well as on solid ground. PAARV is lowered by a tether which it plays out of its upper chamber. The tether provides both power from the aerial platform and communications with the aerial platform which acts as a direct-to-earth data relay. Active buoyancy control is done on-board the sonde to allow it to dive or surface. In its liquid-state configuration, the sonde is oriented vertically like a buoy and pendulum stabilized with its c.g. located low in the body. In its surface-state configuration, the buoyancy control chamber which contains the tether is rotated upwards towards the aerial platform while the body remains horizontal. The vehicle has treads which allow it to climb up onto the crater rim. The sampling system is a needle-like probe which is inserted up 5-10cm into the crater material, heated to allow melted material to adsorb to the surface, and then retracted back into the body of the sonde to allow the sample to be desorbed and distributed to the science instruments.