diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index a1b527a238fca4..79231cbc334bc5 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -152,6 +152,12 @@ void AP_Mission::resume()
         return;
     }
 
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DB-A1: _repeat_dist = %u", _repeat_dist);
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DB-A2: _wp_index_history[LAST_WP_PASSED] = %u", _wp_index_history[LAST_WP_PASSED]);
+    // GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DB-A3: _wp_index_history:");
+    // for (uint8_t i=0; i<AP_MISSION_MAX_WP_HISTORY-1; i++) {
+    //      GCS_SEND_TEXT(MAV_SEVERITY_INFO, "[i=%u] %u", i, _wp_index_history[i]);
+    // }
     // rewind the mission wp if the repeat distance has been set via MAV_CMD_DO_SET_RESUME_REPEAT_DIST
     if (_repeat_dist > 0 && _wp_index_history[LAST_WP_PASSED] != AP_MISSION_CMD_INDEX_NONE) {
         // if not already in a resume state calculate the position to rewind to
@@ -266,7 +272,9 @@ void AP_Mission::reset()
     _prev_nav_cmd_wp_index = AP_MISSION_CMD_INDEX_NONE;
     _prev_nav_cmd_id       = AP_MISSION_CMD_ID_NONE;
     init_jump_tracking();
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DB-D2: reset:");
     reset_wp_history();
+
 }
 
 /// clear - clears out mission
@@ -554,6 +562,7 @@ bool AP_Mission::set_current_cmd(uint16_t index)
     }
 
     // mission command has been set, don't track history.
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DB-D1: set curr cmd:");
     reset_wp_history();
 
     // sanity check index and that we have a mission
@@ -1963,6 +1972,8 @@ bool AP_Mission::advance_current_nav_cmd(uint16_t starting_index)
             return false;
         }
 
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DB-B3: next cmd = %u", cmd_index);
+
         // check if navigation or "do" command
         if (is_nav_cmd(cmd)) {
             // save previous nav command index
@@ -1985,10 +1996,13 @@ bool AP_Mission::advance_current_nav_cmd(uint16_t starting_index)
             // and prevent history being re-written until vehicle returns to interrupted position
             if (_repeat_dist > 0 && !_flags.resuming_mission && _nav_cmd.index != AP_MISSION_CMD_INDEX_NONE && !(_nav_cmd.content.location.lat == 0 && _nav_cmd.content.location.lng == 0)) {
                 // update mission history. last index position is always the most recent wp loaded.
+                // GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DB-B2: WP Hist:");
                 for (uint8_t i=0; i<AP_MISSION_MAX_WP_HISTORY-1; i++) {
                     _wp_index_history[i] = _wp_index_history[i+1];
+                    // GCS_SEND_TEXT(MAV_SEVERITY_INFO, "[i=%u] %u", i, _wp_index_history[i]);
                 }
                 _wp_index_history[AP_MISSION_MAX_WP_HISTORY-1] = _nav_cmd.index;
+                GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DB-B1: Saved index %u", _nav_cmd.index);
             }
             // check if the vehicle is resuming and has returned to where it was interrupted
             if (_flags.resuming_mission && _nav_cmd.index == _wp_index_history[AP_MISSION_MAX_WP_HISTORY-1]) {
@@ -2779,6 +2793,7 @@ void AP_Mission::reset_wp_history(void)
     if (_flags.resuming_mission) {
         return;
     }
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DB-C1: reset history");
     for (uint8_t i = 0; i<AP_MISSION_MAX_WP_HISTORY; i++) {
         _wp_index_history[i] = AP_MISSION_CMD_INDEX_NONE;
     }
@@ -2802,11 +2817,13 @@ bool AP_Mission::calc_rewind_pos(Mission_Command& rewind_cmd)
     // check for a recent history
     if (_wp_index_history[LAST_WP_PASSED] == AP_MISSION_CMD_INDEX_NONE) {
         // no saved history so can't rewind
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DB1: No Hist");
         return false;
     }
 
     // check that we have a valid exit position
     if (_exit_position.lat == 0 && _exit_position.lng == 0) {
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DB2: No Exit Pos");
         return false;
     }
 
@@ -2821,12 +2838,14 @@ bool AP_Mission::calc_rewind_pos(Mission_Command& rewind_cmd)
         // of history array no being completely filled with valid waypoints upon resume.
         if (_wp_index_history[i] == AP_MISSION_CMD_INDEX_NONE) {
             // no more stored history
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DB3: No more hist");
             resume_index = i+1;
             break;
         }
 
         if (!read_cmd_from_storage(_wp_index_history[i], temp_cmd)) {
             // if read from storage failed then don't use rewind
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DB4: Failed mission read");
             return false;
         }
 
@@ -2838,6 +2857,7 @@ bool AP_Mission::calc_rewind_pos(Mission_Command& rewind_cmd)
         if (rewind_distance <= 0.0f) {
             // history rewound enough distance to meet _repeat_dist requirement
             rewind_cmd = temp_cmd;
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DB5: rewound enough");
             break;
         }
 
@@ -2849,6 +2869,7 @@ bool AP_Mission::calc_rewind_pos(Mission_Command& rewind_cmd)
         // then the history array was rewound all of the way without finding a wp distance > _repeat_dist distance.
         // the last read temp_cmd will be the furthest cmd back in the history array so resume to that.
         rewind_cmd = temp_cmd;
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mission: Rewind to max repeat dist (%u m)", _repeat_dist);
         return true;
     }
 
@@ -2861,6 +2882,7 @@ bool AP_Mission::calc_rewind_pos(Mission_Command& rewind_cmd)
     // fetch next destination wp
     if (!read_cmd_from_storage(_wp_index_history[resume_index+1], temp_cmd)) {
         // if read from storage failed then don't use rewind
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "DB7: Failed mission read 2");
         return false;
     }
 
@@ -2881,6 +2903,7 @@ bool AP_Mission::calc_rewind_pos(Mission_Command& rewind_cmd)
     // continues as planned without further intervention.  The resume wp is not written to memory so will not perminantely change the mission.
 
     // if we got this far then mission rewind position was successfully calculated
+    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Mission: Rewind to lat=%.5f lng=%.5f", ((float)rewind_cmd.content.location.lat)*1e-7, ((float)rewind_cmd.content.location.lng)*1e-7);
     return true;
 }