* Doubles now have a double format in discovery, matching previous
  behavior
* API Explorer redirect has been fixed to remove the port number, which
  API Explorer does not allow in most cases
* Authenticator classes can now throw ServiceException. Exception
  logging from SystemService has been cleaned up and (hopefully)
  improved
* Fix a stack overflow issue when recursive schema are used across
  multiple APIs
* Disable property/field name conflict validation, opting to log instead
  of throw for the time being
* Add API config validation to get-discovery-doc tool action