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Once more with the Maiden

Question

Previously, Maiden’s boat could change its heading instantaneously. Ogre’s heading could change only by virtue of following a circular path along the shore at his current speed. His rotational speed was thus far from infinite, and perhaps that disadvantage was unfair.

So in this final puzzle iteration we’ll limit the boat’s linear speed to be
f times that of Ogre, as before, but now we’ll also limit the boat’s angular speed to be never greater than g times Ogre’s top angular speed.

A moment’s thought tells us that unless
g is greater than unity the boat’s best strategy is to run at full speed from the center to the shore, keeping its initial bearing, no matter where on the shore Ogre initially stands. That is, never to turn the boat. That sucks for Maiden (e.g., she loses if Ogre initially stands at the boat's initial heading) and it sucks as a puzzle. So we’ll say the boat can change heading faster than Ogre can. For clarity we’ll set g = 2.

We’ll implement that limit by giving the boat’s motor three discrete settings that can be switched instantly an unlimited number of times: clockwise (CW), full speed ahead (FSA), and counterclockwise (CCW.) In the two turning modes the boat turns but maintains its position; in FSA mode it moves forward but does not turn. Boat’s path is thus a succession of arbitrarily short line segments joined at angles of Maiden's choosing, with the time cost of the angle depending on its size.

If the boat starts in the middle of the lake, how large must
f now be for Maiden to escape?

Edit: Extra credit (tough):
If Ogre's top speed is 1 lake-radius per minute, and Maiden chooses the boat's initial heading at the center, what's her shortest time safely to shore?

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