Greece ? For the second time in their lives, two robbers escaped from a high-security prison Sunday by scaling a rope ladder to a hovering helicopter amid a gun battle with guards.

The men remained missing late Sunday night. They had been scheduled to appear before a magistrate today about their first escape — from the same prison — three years ago.

The shaken government quickly dismissed three Justice Ministry officials, and the prime minister scheduled an emergency meeting of part of his cabinet today to discuss the country’s prisons.

“This was an insult which I will not accept … I will take measures as harsh as necessary,” Justice Minister Nikos Dendias announced.

Vassilis Paleokostas, 42, and Alket Rizaj, 34, were picked up by a helicopter that flew over the courtyard of Athens’ Korydallos prison Sunday afternoon. They climbed a rope ladder thrown to them by a woman passenger, the Justice Ministry said.

Guards on the ground opened fire and the woman fired back with an automatic rifle, authorities said. No injuries were reported.

Police said an elderly couple found the helicopter abandoned near a highway north of Athens, with its fuel tank leaking from a bullet hole.

The pilot was bound and gagged, with a hood over his head. He told police the helicopter was chartered by a couple who said they wanted to go from the town of Itea in central Greece to Athens.