There are a couple methods. As someone else already mentioned, we’ve sent probes into the atmospheres of some places and sent back actual sound recordings. As another has mentioned, sometimes it’s not a sound but the frequencies of other properties, mostly magnetic fields.
But there is another cooler method that we have used: watching them with a camera. You can use a camera to actually record sound visually, by mapping the physical vibrations you can see. I am unsure if this has been done to a celestial body, but it can be. I think it’s been done on one of Jupiter’s moons?
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