diff --git a/ArduSub/control_althold.cpp b/ArduSub/control_althold.cpp
index 863a6c4ad4..50e4a9d037 100644
--- a/ArduSub/control_althold.cpp
+++ b/ArduSub/control_althold.cpp
@@ -94,10 +94,6 @@ void Sub::althold_run()
         if (ap.at_bottom) {
             pos_control.relax_alt_hold_controllers(); // clear velocity and position targets
             pos_control.set_alt_target(inertial_nav.get_altitude() + 10.0f); // set target to 10 cm above bottom
-        } else if (rangefinder_alt_ok()) {
-            // if rangefinder is ok, use surface tracking
-            float target_climb_rate = get_surface_tracking_climb_rate(0, pos_control.get_alt_target(), G_Dt);
-            pos_control.set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
         }
 
         // Detects a zero derivative
diff --git a/ArduSub/control_circle.cpp b/ArduSub/control_circle.cpp
index eabf2488e1..0961fba021 100644
--- a/ArduSub/control_circle.cpp
+++ b/ArduSub/control_circle.cpp
@@ -83,11 +83,6 @@ void Sub::circle_run()
         attitude_control.input_euler_angle_roll_pitch_yaw(channel_roll->get_control_in(), channel_pitch->get_control_in(), circle_nav.get_yaw(), true, get_smoothing_gain());
     }
 
-    // adjust climb rate using rangefinder
-    if (rangefinder_alt_ok()) {
-        // if rangefinder is ok, use surface tracking
-        target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
-    }
     // update altitude target and call position controller
     pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt, false);
     pos_control.update_z_controller();
diff --git a/ArduSub/control_poshold.cpp b/ArduSub/control_poshold.cpp
index 78a9048774..b0beec706b 100644
--- a/ArduSub/control_poshold.cpp
+++ b/ArduSub/control_poshold.cpp
@@ -112,12 +112,6 @@ void Sub::poshold_run()
     float target_climb_rate = get_pilot_desired_climb_rate(channel_throttle->get_control_in());
     target_climb_rate = constrain_float(target_climb_rate, -g.pilot_velocity_z_max, g.pilot_velocity_z_max);
 
-    // adjust climb rate using rangefinder
-    if (rangefinder_alt_ok()) {
-        // if rangefinder is ok, use surface tracking
-        target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
-    }
-
     // call z axis position controller
     if (ap.at_bottom) {
         pos_control.relax_alt_hold_controllers(motors.get_throttle_hover()); // clear velocity and position targets, and integrator