DUNE.Control.PathController: Using a const for a factor on the cross track error versus vehicle speed.
This will prevent a chattering behavior on the near flag versus station keeping's condition for "on station".
Made some variables float instead of double.
DUNE.Plans.Duration: Making sure std::max(float,float) is used.
AUV.Maneuvers: Setting the minimum radius for station keeping to 20.0 meters to avoid a conflict with the NEAR flag in path control.