A paper that describes the use of multiple gliders with Nortek AD2CP in use around Equator to study the undercurrent.  The authors address the processing technique as well as the oceanographic results.  Here is a link to the published paper

Here are links to other papers describing the use of AD2CP on gliders by the same group of researchers: 

• https://doi.org/10.1029/2018GL079180 - Gulf Stream slowdown due to hurricane passage
•  https://doi.org/10.1029/2019GL081919  Subsurface submesoscale eddy in the Gulf Stream
• https://doi.org/10.1175/JPO-D-19-0110.1 - Equatorial Undercurrent encountering the Galapagos, includes a horizontal transport divergence estimate and more error analysis
• https://doi.org/10.1029/2020GL087215 - Equatorial circulation in the western Indian Ocean during monsoon transition
• https://doi.org/10.1029/2019JC016006 - Shelf water export from a two-year campaign off North Carolina
• https://doi.org/10.1175/JPO-D-18-0233.1 - Flow encountering topography in Palau