MDM Cert Expired iPads stuck in single app mode.

So I'm in a bit of a situation, I inherited the task of supporting my companies iPads (about 30 or so) for our various sites as check in kiosks. I use the apple MDM to lock the iPads in single app mode with the app we use so I can't get to the settings app. My issue is the MDM identity certificate expired, and I wasn't aware that this cert could expire and now I'm stuck with iPads that are stuck in the single app mode and cannot be removed via the MDM server.

Is there a way to bypass the single app mode without full on factory restoring the iPads so I can just get to the settings app to remove the old profile and get to safari to re-enroll them into the server? Using a mix of iPad 2 and iPad Air (first generation) running apple server on OSX 10.9.5 at the moment.