diff --git a/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs b/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
index a72e79be4a..8ace5c5fd5 100644
--- a/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
+++ b/Tools/ArdupilotMegaPlanner/GCSViews/Configuration.cs
@@ -488,6 +488,11 @@ namespace ArdupilotMega.GCSViews
                         ((DomainUpDown)text[0]).SelectedIndex = index;
                         ((DomainUpDown)text[0]).BackColor = Color.Green;
                     }
+                    else
+                    {
+                        ((DomainUpDown)text[0]).Text = option;
+                        ((DomainUpDown)text[0]).BackColor = Color.Green;
+                    }
                 }
             }
             catch { }
@@ -515,8 +520,11 @@ namespace ArdupilotMega.GCSViews
 
                     int index = line.IndexOf(',');
 
+                    int index2 = line.IndexOf(',', index + 1);
                     if (index == -1)
                         continue;
+                    if (index2 != -1)
+                        line = line.Replace(',','.');
 
                     string name = line.Substring(0, index);
                     float value = float.Parse(line.Substring(index + 1), new System.Globalization.CultureInfo("en-US"));
@@ -569,7 +577,7 @@ namespace ArdupilotMega.GCSViews
 
                     MAVLink.modifyParamForDisplay(false, row.Cells[0].Value.ToString(), ref value);
 
-                    sw.WriteLine(row.Cells[0].Value.ToString() + "," + value);
+                    sw.WriteLine(row.Cells[0].Value.ToString() + "," + value.ToString(new System.Globalization.CultureInfo("en-US")));
                 }
                 sw.Close();
             }
diff --git a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
index 421048b251..61c3a2661e 100644
--- a/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
+++ b/Tools/ArdupilotMegaPlanner/Properties/AssemblyInfo.cs
@@ -34,5 +34,5 @@ using System.Resources;
 // by using the '*' as shown below:
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.0.0.0")]
-[assembly: AssemblyFileVersion("1.0.87")]
+[assembly: AssemblyFileVersion("1.0.88")]
 [assembly: NeutralResourcesLanguageAttribute("")]
diff --git a/Tools/ArdupilotMegaPlanner/app.config b/Tools/ArdupilotMegaPlanner/app.config
index ea54d4e7bc..6b78cb190d 100644
--- a/Tools/ArdupilotMegaPlanner/app.config
+++ b/Tools/ArdupilotMegaPlanner/app.config
@@ -2,12 +2,6 @@
 <configuration>
 <configSections>
 </configSections>
-  <!--
-    <startup useLegacyV2RuntimeActivationPolicy="true">
-      <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.0"/>
-      <supportedRuntime version="v4.0"/>
-  </startup>
-  -->
   <startup>
     <supportedRuntime version="v2.0.50727"/>
   </startup>
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application
index a4d78a16dc..7373ea86b1 100644
--- a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application
+++ b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.application
@@ -11,7 +11,7 @@
           <dsig:Transform Algorithm="urn:schemas-microsoft-com:HashTransforms.Identity" />
         </dsig:Transforms>
         <dsig:DigestMethod Algorithm="http://www.w3.org/2000/09/xmldsig#sha1" />
-        <dsig:DigestValue>S+dMQOC9TeJyQiYvhw37LpJxZU0=</dsig:DigestValue>
+        <dsig:DigestValue>wRpim3tDq7ttru3QnVS/G/tNt8A=</dsig:DigestValue>
       </hash>
     </dependentAssembly>
   </dependency>
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.exe.config b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.exe.config
index ea54d4e7bc..6b78cb190d 100644
--- a/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.exe.config
+++ b/Tools/ArdupilotMegaPlanner/bin/Release/ArdupilotMegaPlanner.exe.config
@@ -2,12 +2,6 @@
 <configuration>
 <configSections>
 </configSections>
-  <!--
-    <startup useLegacyV2RuntimeActivationPolicy="true">
-      <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.0"/>
-      <supportedRuntime version="v4.0"/>
-  </startup>
-  -->
   <startup>
     <supportedRuntime version="v2.0.50727"/>
   </startup>
diff --git a/Tools/ArdupilotMegaPlanner/bin/Release/dataflashlog.xml b/Tools/ArdupilotMegaPlanner/bin/Release/dataflashlog.xml
index 7969461052..430e3cc231 100644
--- a/Tools/ArdupilotMegaPlanner/bin/Release/dataflashlog.xml
+++ b/Tools/ArdupilotMegaPlanner/bin/Release/dataflashlog.xml
@@ -22,10 +22,15 @@
   </ATT>
   <NTUN>
     <F1>WP Dist</F1>
-    <F2>WP Verify</F2>
-    <F3>Target Bear</F3>
-    <F4>Long Err</F4>
-    <F5>Lat Err</F5>
+    <F2>Target Bear</F2>
+    <F3>Long Err</F3>
+    <F4>Lat Err</F4>
+    <F5>nav lon</F5>
+    <F6>nav lat</F6>
+    <F7>nav lon I</F7>
+    <F8>nav lat I</F8>
+    <F9>Loiter Lon I</F9>
+    <F10>Loiter Lat I</F10>
   </NTUN>
   <CTUN>
     <F1>Yaw Sensor</F1>
diff --git a/Tools/ArdupilotMegaPlanner/dataflashlog.xml b/Tools/ArdupilotMegaPlanner/dataflashlog.xml
index 7969461052..430e3cc231 100644
--- a/Tools/ArdupilotMegaPlanner/dataflashlog.xml
+++ b/Tools/ArdupilotMegaPlanner/dataflashlog.xml
@@ -22,10 +22,15 @@
   </ATT>
   <NTUN>
     <F1>WP Dist</F1>
-    <F2>WP Verify</F2>
-    <F3>Target Bear</F3>
-    <F4>Long Err</F4>
-    <F5>Lat Err</F5>
+    <F2>Target Bear</F2>
+    <F3>Long Err</F3>
+    <F4>Lat Err</F4>
+    <F5>nav lon</F5>
+    <F6>nav lat</F6>
+    <F7>nav lon I</F7>
+    <F8>nav lat I</F8>
+    <F9>Loiter Lon I</F9>
+    <F10>Loiter Lat I</F10>
   </NTUN>
   <CTUN>
     <F1>Yaw Sensor</F1>