diff --git a/src/ai/basic_states.py b/src/ai/basic_states.py
index a403973a..1dc18295 100644
--- a/src/ai/basic_states.py
+++ b/src/ai/basic_states.py
@@ -403,3 +403,16 @@ def callback(self, msg, userdata):
         c.levelOut()
         c.yawLeftAbsolute(userdata.heading_input)
         c.publish()
+
+class surface(SubscribeState):
+    def __init__(self):
+        SubscribeState.__init__(self, 'depth', Float32Stamped, self.surface_callback, outcomes=['success'])
+
+
+    def surface_callback(self, depth_message, userdata):
+        if depth_message.data < -0.1:
+            control = control_wrapper()
+            control.diveAbsolute(-0.1)
+            control.publish()
+        else:
+            self.exit('success')
diff --git a/src/ai/smach_surface.py b/src/ai/smach_surface.py
new file mode 100755
index 00000000..27ec74d0
--- /dev/null
+++ b/src/ai/smach_surface.py
@@ -0,0 +1,38 @@
+#!/usr/bin/python
+import rospy
+import smach
+import smach_ros
+from start_switch import start_switch
+import roulette_states
+import basic_states
+
+class surface_ai(smach.StateMachine):
+    def __init__(self):
+        smach.StateMachine.__init__(self, outcomes=['success'])
+
+        with self:
+            smach.StateMachine.add('DIVE', basic_states.goToDepth(-0.5), 
+                                  transitions={'success': 'MOVE_TO_PINGER', 'fail': 'FAIL', 'timeout': 'FAIL'})
+            smach.StateMachine.add('MOVE_TO_PINGER', roulette_states.MoveToPinger(),
+                                  transitions={'success': 'SURFACE', 'fail': 'MOVE_TO_PINGER',
+                                              'timeout': 'MOVE_TO_PINGER'})
+            smach.StateMachine.add('SURFACE', basic_states.surface(), transitions={'success': 'success'})
+
+
+if __name__ == '__main__':
+    rospy.init_node('ai')
+
+    while rospy.get_time() == 0:
+        continue
+
+
+    sm = smach.StateMachine(outcomes=['success'])
+    with sm:
+        smach.StateMachine.add('START_SWITCH', start_switch(), transitions={'success': 'SURFACE_TASK'})
+        smach.StateMachine.add('SURFACE_TASK', surface_ai(), transitions={'success': 'success'})
+
+
+    sis = smach_ros.IntrospectionServer('smach_server', sm, '/SM_ROOT')
+    sis.start()
+    outcomes = sm.execute()
+    sis.stop()