GDAL can do it, and so then can the rgdal package if you can compile
against a GDAL including the OpenDAP driver. You get each 2+D-array
(subdataset in GDAL terms) flattened into a series of 2D rasters where
each slice in higher dimensions is an attribute on the raster, but
that often is quite usea
The package ncdf4 (http://cran.r-project.org/web/packages/ncdf4/index.html)
can access remote OpeNDAP data services. If you use Windows, the author has a
binary package on his site.
Also, if you want a GUI that works with R and allows you to visually select the
space-time slice you want, try
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