A mobile machine includes a receiver with an antenna configured to receive position information, an implement associated with the mobile machine and shiftable in a direction lateral to the machine's forward movement, and a computing system in communication with the receiver. The computing system is configured to record values corresponding to the position information and a working depth along a first path, determine one or more reference points for a second path based on the recorded values, a ground surface slope, and a working depth or height along the second path, and adjust a lateral position of the implement relative to the mobile machine based on the one or more reference points for the second path.
