diff --git a/main/source/mod/AIPlayers/AvHAINavigation.cpp b/main/source/mod/AIPlayers/AvHAINavigation.cpp
index 8df3e301..2b48270b 100644
--- a/main/source/mod/AIPlayers/AvHAINavigation.cpp
+++ b/main/source/mod/AIPlayers/AvHAINavigation.cpp
@@ -824,6 +824,7 @@ void UTIL_PopulateBaseNavProfiles()
 	BaseNavProfiles[MARINE_BASE_NAV_PROFILE].NavMeshIndex = REGULAR_NAV_MESH;
 	BaseNavProfiles[MARINE_BASE_NAV_PROFILE].bFlyingProfile = false;
 	BaseNavProfiles[MARINE_BASE_NAV_PROFILE].ReachabilityFlag = AI_REACHABILITY_MARINE;
+	BaseNavProfiles[MARINE_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_GROUND, 1.0f);
 	BaseNavProfiles[MARINE_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_OBSTRUCTION, 2.0f);
 	BaseNavProfiles[MARINE_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_CROUCH, 2.0f);
 	BaseNavProfiles[MARINE_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_BLOCKED, 2.0f);
@@ -836,6 +837,8 @@ void UTIL_PopulateBaseNavProfiles()
 	BaseNavProfiles[SKULK_BASE_NAV_PROFILE].NavMeshIndex = REGULAR_NAV_MESH;
 	BaseNavProfiles[SKULK_BASE_NAV_PROFILE].bFlyingProfile = false;
 	BaseNavProfiles[SKULK_BASE_NAV_PROFILE].ReachabilityFlag = AI_REACHABILITY_SKULK;
+	BaseNavProfiles[SKULK_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_GROUND, 1.0f);
+	BaseNavProfiles[SKULK_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_CROUCH, 1.0f);
 	BaseNavProfiles[SKULK_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_OBSTRUCTION, 2.0f);
 	BaseNavProfiles[SKULK_BASE_NAV_PROFILE].Filters.setIncludeFlags(SAMPLE_POLYFLAGS_ALL);
 	BaseNavProfiles[SKULK_BASE_NAV_PROFILE].Filters.removeIncludeFlags(SAMPLE_POLYFLAGS_TEAM1PHASEGATE | SAMPLE_POLYFLAGS_TEAM2PHASEGATE | SAMPLE_POLYFLAGS_DUCKJUMP | SAMPLE_POLYFLAGS_WELD | SAMPLE_POLYFLAGS_FLY);
@@ -845,6 +848,8 @@ void UTIL_PopulateBaseNavProfiles()
 	BaseNavProfiles[GORGE_BASE_NAV_PROFILE].NavMeshIndex = REGULAR_NAV_MESH;
 	BaseNavProfiles[GORGE_BASE_NAV_PROFILE].bFlyingProfile = false;
 	BaseNavProfiles[GORGE_BASE_NAV_PROFILE].ReachabilityFlag = AI_REACHABILITY_GORGE;
+	BaseNavProfiles[GORGE_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_GROUND, 1.0f);
+	BaseNavProfiles[GORGE_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_CROUCH, 1.0f);
 	BaseNavProfiles[GORGE_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_OBSTRUCTION, 2.0f);
 	BaseNavProfiles[GORGE_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_BLOCKED, 2.0f);
 	BaseNavProfiles[GORGE_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_FALLDAMAGE, 10.0f);
@@ -860,6 +865,8 @@ void UTIL_PopulateBaseNavProfiles()
 	BaseNavProfiles[LERK_BASE_NAV_PROFILE].NavMeshIndex = REGULAR_NAV_MESH;
 	BaseNavProfiles[LERK_BASE_NAV_PROFILE].bFlyingProfile = true;
 	BaseNavProfiles[LERK_BASE_NAV_PROFILE].ReachabilityFlag = AI_REACHABILITY_SKULK;
+	BaseNavProfiles[LERK_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_GROUND, 1.0f);
+	BaseNavProfiles[LERK_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_CROUCH, 1.0f);
 	BaseNavProfiles[LERK_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_OBSTRUCTION, 2.0f);
 	BaseNavProfiles[LERK_BASE_NAV_PROFILE].Filters.setIncludeFlags(SAMPLE_POLYFLAGS_ALL);
 	BaseNavProfiles[LERK_BASE_NAV_PROFILE].Filters.setExcludeFlags(0);
@@ -870,6 +877,8 @@ void UTIL_PopulateBaseNavProfiles()
 	BaseNavProfiles[FADE_BASE_NAV_PROFILE].NavMeshIndex = REGULAR_NAV_MESH;
 	BaseNavProfiles[FADE_BASE_NAV_PROFILE].bFlyingProfile = false;
 	BaseNavProfiles[FADE_BASE_NAV_PROFILE].ReachabilityFlag = AI_REACHABILITY_SKULK;
+	BaseNavProfiles[FADE_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_GROUND, 1.0f);
+	BaseNavProfiles[FADE_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_CROUCH, 1.0f);
 	BaseNavProfiles[FADE_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_OBSTRUCTION, 2.0f);
 	BaseNavProfiles[FADE_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_CROUCH, 1.5f);
 	BaseNavProfiles[FADE_BASE_NAV_PROFILE].Filters.setIncludeFlags(SAMPLE_POLYFLAGS_ALL);
@@ -882,6 +891,7 @@ void UTIL_PopulateBaseNavProfiles()
 	BaseNavProfiles[ONOS_BASE_NAV_PROFILE].NavMeshIndex = ONOS_NAV_MESH;
 	BaseNavProfiles[ONOS_BASE_NAV_PROFILE].bFlyingProfile = false;
 	BaseNavProfiles[ONOS_BASE_NAV_PROFILE].ReachabilityFlag = AI_REACHABILITY_ONOS;
+	BaseNavProfiles[ONOS_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_GROUND, 1.0f);
 	BaseNavProfiles[ONOS_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_OBSTRUCTION, 2.0f);
 	BaseNavProfiles[ONOS_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_CROUCH, 2.0f);
 	BaseNavProfiles[ONOS_BASE_NAV_PROFILE].Filters.setAreaCost(SAMPLE_POLYAREA_FALLDAMAGE, 10.0f);
diff --git a/main/source/mod/AIPlayers/AvHAIPlayerManager.cpp b/main/source/mod/AIPlayers/AvHAIPlayerManager.cpp
index 0f34565e..ca415aea 100644
--- a/main/source/mod/AIPlayers/AvHAIPlayerManager.cpp
+++ b/main/source/mod/AIPlayers/AvHAIPlayerManager.cpp
@@ -32,6 +32,8 @@ extern int m_spriteTexture;
 Vector DebugVector1 = ZERO_VECTOR;
 Vector DebugVector2 = ZERO_VECTOR;
 
+vector<bot_path_node> DebugPath;
+
 string BotNames[MAX_PLAYERS] = { "MrRobot",
 									"Wall-E",
 									"BeepBoop",
@@ -475,6 +477,23 @@ byte BotThrottledMsec(AvHAIPlayer* inAIPlayer)
 	return (byte)newmsec;
 }
 
+void AIDEBUG_SetDebugVector1(const Vector NewVector)
+{
+	DebugVector1 = NewVector;
+}
+
+void AIDEBUG_SetDebugVector2(const Vector NewVector)
+{
+	DebugVector2 = NewVector;
+}
+
+void AIDEBUG_TestPathFind()
+{
+	if (vIsZero(DebugVector1) || vIsZero(DebugVector2)) { return; }
+
+	DEBUG_TestFindPath(GetBaseNavProfile(SKULK_BASE_NAV_PROFILE), DebugVector1, DebugVector2, DebugPath, 60.0f);
+}
+
 void AIMGR_UpdateAIPlayers()
 {
 	// If bots are not enabled then do nothing
@@ -530,6 +549,8 @@ void AIMGR_UpdateAIPlayers()
 
 				DroneThink(bot);
 
+				AIDEBUG_DrawPath(DebugPath, 0.0f);
+
 				AvHAIWeapon DesiredWeapon = (bot->DesiredMoveWeapon != WEAPON_NONE) ? bot->DesiredMoveWeapon : bot->DesiredCombatWeapon;
 
 				if (DesiredWeapon != WEAPON_NONE && GetBotCurrentWeapon(bot) != DesiredWeapon)