A system for controlling a marine vessel that includes a sonar depth finder configured to display a chart for a body of water. The chart has depth information for the body of water, and is programmed to allow a user to select from a plurality of depths indicated on the sonar depth finder display. The sonar depth finder further is configured to generate a route for the marine vessel. The route includes a path through the body of water where each point along the path is at the desired depth. The system includes a vessel control device in communication with the sonar depth finder. The vessel control device is configured to receive transmissions from the sonar depth finder. The transmissions include the route generated by the sonar depth finder. The vessel control device is further configured to automatically direct the marine vessel along the route.