Exploring extraterrestrial oceans with submarines?

So, with all the recent discoveries and almost certainly true theories that a few of Jupiter and Saturn's moons could have a subsurface ocean, notably Enceladus and Titan, would an ~10 meter long submarine carried into space and 'landing' on the surface (Titan) or drilling its' way through the ice (Enceladus / Ganymede) actually be effective at sending environment-related information back to Earth ?

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Exploring extraterrestrial oceans with submarines?

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