An HF impulse polarimetric Ground Penetrating Radar (GPR) operating at very low frequencies (ranging from ~2 to 8MHz) has been developed in the frame of the NetLander mission. This instrument, named TAPIR (Terrestrial And Planetary Investigation by Radar), was designed to probe the Martian subsurface down to kilometric depth and search for potential water reservoirs. Although the NetLander mission was cancelled in 2003, the interest on the exploration of Martian subsurface was recently enhanced by the promising observations of the Mars Advanced Radar for Subsurface and Ionospheric Sounding (MARSIS) on board of the ESA Mars Express orbiter. In particular, MARSIS detected the base of the North Polar Layered Deposits, penetrating up to ~1.8km the ice-rich upper layer of the underground. Such results suggest that TAPIR, which operates in the same frequency range as MARSIS and can performed a higher number of coherent integrations, is able to reach deeper structures. Yet, in contrast with classical GPRs, TAPIR can not move onto the surface and thus won't provide 2D or 3D scan of the subsurface. To retrieve, in spite of this NetLander restraint, the 3D distribution of the reflecting facets of the underground, the instrument was equipped with two electrical dipoles and a rotating magnetic sensor. These antennas allow to derive, from the measured values of 5 components of the wave field, the direction of arrival of the reflected waves hence the inclination of the buried reflectors. The first validation of this innovative concept was carried out during the RANETA (RAdar of NEtlander in Terre Adélie) campaign organized by the Institute Paul-Emile Victor in January-February 2004. This campaign took place on the Antarctic ice sheet close to the French-Italian Cap Prudhomme station. 8 soundings of the ice shelf were performed on various sites corresponding to different altitudes above the sea level (ranging from ~285m to ~1100m). We shall provide a detailed description of the principle of operation of the radar and of the method of analysis of the observations. The ice-bedrock interface was detected in all of the soundings with clear signals on both electric and magnetic antennas. The measured ice thicknesses show that up to ~ 45 km from the coast the bed-rock stays at an altitude close to the sea level. In several occasions several echoes have been detected and a dedicated data processing algorithm allows to disentangle the various echoes and determine the location of the reflecting facets of the bed-rock. In support to the data analysis, numerical simulations have been conducted using a FDTD method and reproduce the actual observations. These numerical simulations are also used to interpret the frequency profile of the electric antenna and obtain the electromagnetic characteristics of the upper layer of the ice