After a short pause whilst thinking about the options...
My vote would be for the pangaea, it's closest to our own planet or at least it's suggested meaning is, the terrain will be familiar to an extent. I understand there will be dangerous life-forms on the planet but if they are similar in nature to the dinosaurs of old then they'll lack any high level of intelligence, with only a few exceptions, meaning it'll be easy to avoid or lose them if necessary. Not to mention if they are like the dinosaurs of old their main attack means will be pack hunting with claws and teeth. With the ranged fire power we have at our disposal we have the advantage. I know there will likely be flying creatures too but hopefully a thick canopy will provide adequate cover. Our biggest problem would be the fauna seeing as we have no idea what ancient plants may remain here. The ice planet sounds like it may have resources but will likely be hidden underground meaning a mining operation to get to them not to mention having to combat hypothermia and pneumonia, hidden crevasses in the ice fields, strange oceanic currents that could easily sweep away masses if the weather turns. The radio waves to me presents the greatest threat, and it's probably best not to poke a sleeping giant if we can help it.