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I would never have found this out on my own as Ubiquiti is TERRIBLE about documentation and planning. However, considering they are 75% cheaper than everyone else I can give them some room.
The following are the CLI commands needed to run on the access point. I was able to find the IP of the AP by using the unifi discovery tool.

  1. Then you ssh into the AP
  2. Tell it the url of the controller. As long as there is a route it can be found across subnets.
  3. Tell the controller to adopt the AP, it will remain in the adopting state until you tell the AP about the URL a second time.
  4. Type in the inform command again and you will lose access to the AP.
  5. Enjoy
[ michael-ws Fri Nov 11 ] $ ssh ubnt@xxx.xxx.xxx.xxx
The authenticity of host 'xxx.xxx.xxx.xxx (xxx.xxx.xxx.xxx)' can't be established.
RSA key fingerprint is SHA256:XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX.
RSA key fingerprint is MD5:XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX.
Are you sure you want to continue connecting (yes/no)? yes
Warning: Permanently added 'xxx.xxx.xxx.xxx' (RSA) to the list of known hosts.
ubnt@xxx.xxx.xxx.xxx's password: 


BusyBox v1.19.4 (2016-05-31 18:13:05 PDT) built-in shell (ash)
Enter 'help' for a list of built-in commands.

BZ.v3.4.19# mca-cli
UniFi# set-inform http://xxx.xxx.xxx.xxx:8080/inform

Adoption request sent to 'http://xxx.xxx.xxx.xxx:8080/inform'.
 
1. please adopt it on the controller
2. issue the set-inform command again
3. <inform_url> will be saved after device is successfully managed

UniFi# set-inform http://xxx.xxx.xxx.xxx:8080/inform

Adoption request sent to 'http://xxx.xxx.xxx.xxx:8080/inform'.
 
1. please adopt it on the controller
2. issue the set-inform command again
3. <inform_url> will be saved after device is successfully managed

UniFi# Connection to xxx.xxx.xxx.xxx closed by remote host.
Connection to xxx.xxx.xxx.xxx closed.