AUV undulating adcp processing

Any body have any experience with the processing of data from an adcp that is following a sawtooth/undulating pattern to extract currents or scattering volume?

You'll need to subtract the vessel velocity from the measured velocities to obtain any meaningful current measurements. There are a variety of techniques for this and the details will depend on exactly how the instrument was moving. What do you mean by scattering volume?

P.J.