First, follow the instructions here to flash SuperB with the ESP tool.
Follow instructions 1-3 here to setup the Arduino IDE for ESP32.
Open the serial monitor, with baud equal to 115200 and both NL and CR set.
Hit RESET on the USB adapter board, the SuperB should report back ready.
Try the following two commands sequentially to get a list of access points visible to the SuperB:
For a full list of available AT commands click here.