Disclosed are systems and methods for drilling in an environment having a fluid and a bed. The method includes positioning a platform such that the fluid is between the platform and the bed; and assembling a guide, the assembled guide being straight. The method subsequently acts to place the guide such that the guide is supported by the platform, and a major length of the guide and a normal to the bed defines an angle, the angle being substantially greater than 0. Thus, the positioned guide allows for sending a variable angle drill inside the guide, from the platform into the bed.