diff --git a/path_planning/src/path_planning/states/gate_traversal_state.py b/path_planning/src/path_planning/states/gate_traversal_state.py
new file mode 100644
index 00000000..5c844876
--- /dev/null
+++ b/path_planning/src/path_planning/states/gate_traversal_state.py
@@ -0,0 +1,54 @@
+from path_planning.states.base_state import BaseState
+
+class GateTraversalState(BaseState):
+    """
+    Each state should define how it interacts with the depth and orientation control systems, because those are
+    persisted across state changes.
+    """
+    def state_name(self):
+        return "gate_traversal_state"
+
+    def initialize(self, t, controls, sub_state, world_state, sensors):
+        """
+        Set up anything that needs initializing
+        Run EACH time the state is chosen as the next state
+        process(...) will be called with the next available data
+        Note the parameters passed into function may be the same as the ones first passed into process.
+        """
+        pass
+
+    def process(self, t, controls, sub_state, world_state, sensors):
+        """
+        This function will be called at a regular rate.
+        When the state has finished and wants to finalize, it should just ensure that has_completed returns True.
+        Do not manually call finalize, or else it will be called twice!
+        """
+        pass
+
+    def finalize(self, t, controls, sub_state, world_state, sensors):
+        """
+        Clean up anything necessary.
+        Note the parameters passed into function may be the same as the last ones passed into process.
+        Note this may be called before the state has completed. If this occurs,
+        the state should clean up any resources like normal; the exit_code in this case is not important.
+        """
+        pass
+
+    def has_completed(self):
+        """
+        When this function returns True, the state should exit.
+        Control may be passed to another state if this is part of a state machine.
+        The reason for exiting should be documented and returned in the exit_code function.
+        """
+        pass
+
+    def exit_code(self):
+        """
+        This function should only be called once has_completed returns True.
+        Indicates the reason that the state has exited.
+        The code 0 signifies that the state completed its objective and exited successfully.
+        The code -1 signifies that ros was shutdown.
+        Other codes should be numbered 1 and higher, and their explanations should be documented.
+        """
+        return 0
+