If you don't mind the debug menu, you could probably use whack-a-kerbal to shoot off the RCS block. If you're going to do that, make sure to quick save before. If you want to stay without the debug menu, a splashdown would most likely destroy the RCS port, but i question the structural integrity of docking a parachute module. If all else fails, just recover the cupola on kerbin. Remember, by the way, kerbal. Good luck on saving Bob.