Saturn's largest moon, Titan, is a totally unique planetary body which is certain to yield exciting new phenomena. Current information is lacking in detail to distinguish between a thin methane rich atmosphere and a thick nitrogen rich atmosphere. Therefore, both the thin and thick atmospheric models were used for the study of various Titan probe classes described in this report. The technical requirements, conceptual design, science return, schedule, cost and mission implications of three probe classes that could be used for exploration of Titan are defined. The three probe classes were based on a wide range of exploration mission possibilities.