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Lucas Merckelbach, Anja Berger, Gerd Krahmann, Marcus Dengler, and Jeffrey R. Carpenter

the glider’s attitude sensor and fed into the DVL. Raw DVL data were subjected to a number of quality-checking algorithms to mask low-quality data as well as data correction algorithms. Following Todd et al. (2017) , a pipeline of operations was set up to correct the speed of sound using the salinity measured by the glider; to correct for offsets in roll and pitch; to mask relative water velocities and bottom-track velocities that exceed 0.75 m s −1 ; to mask velocities for which the signal

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