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Will I burn up?


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How exactly do you want to deliver the probe? If you want to land the probe from a low Duna orbit, you will be fine. You can land a Kerbal on EVA on Duna and these guys and girls are not really heat resistant.
If you try to aerobreak from interplanetary space, it will be a bit tricky to find the correct altitude but it should be possible as well.

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