I'm a cheapskate so I waited till WoR to get Sraphim. xD

Getting off the Floating Continent:
- Go to the Save Point. I can't remember if there's more than one, but it's the one that you have to fall into a small room from one of those hole-making mountains.
- Well, don't actually go into the Save Point room, rather go north from the little mountain-hill thingo to find a switch. Hit the switch to clear a path to the left.
- Go to the left path to an abnormally larger mountain-hill-thingo and the airship will be below. You then have to option to jump back down below. I've never tried it before so I'm not sure if you have to start the continent again when you return or whether it brings you back to this point.