To Jupiter!!

[Anomalocaris]

It won't conceptually be hard for an probe built with available technology to penetrate miles of ice. You effectively create a small lander with an oversized radio thermal battery. Shape the probe so the stable orientation is with thermal battery at the tip, pointed down. The waste heat of radioactive decay in the battery will melt it's way through the ice. The melt tunnel this creates will refreeze after the probe passes, so the probe needs to unspool a wire as it goes, so it can remain attached to a transmitter/receiver left on the surface as it melts it's way through the ice.