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They pick up whatever the contents are inside and it goes into their inventory which you can see in the ship info panel.
You can also prompt them to drop off whatever they have at your headquarters by right clicking on the ship and selecting the command.
I'd expect it to be linked to the pilot's skill.
I tend to keep such a ship following me ready for my instructions to grab a lockbox or crystal
Or speak to your pilot directly and tell them to give you their inventory.