Can you lower a line down to the pipe?
What I'm thinking is this; drop a one down with a rock climbing 'cam' on the end. Once its inside the pipe, you pull back on it and it expands against the sides of the pipe so you have a hold of it and pull it up. I'm not sure of the pipe size, so you would have to determine which size cam to use.
Here is a photo of a cam:
The harder you pull the tighter they get...
Or you may be able to use a 'lifting clamp'
look at this one
Either one of these could pinch the pipe edge and allow you to lift it out
The mountain climbers 'cam' will fit inside the pipe and push out on the inner wall and allow you to lift also