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Thing to keep in mind with making vehicles move in DFBHDTS is that each vehicle has several compatible AI textfiles, each AI textfile has different parameters, and some parameters in some AI texfiles are more useful than others.
Major factor for effective boat control is the turn speed. Most boat AI textfiles turn very slowly (about five degrees per second), so you have to adjust either patrol and combat speed, increase the distance between waypoints, or increase the waypoint radii.
If a vehicle with low turn speed is going too fast and the next waypoint is too close and/or too small, the vehicle can get stuck in an orbit around that waypont. Use the tips above to fix this.
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