All updates to your copy of the full version are free. An update is a small or medium release and usually contain fixes and sometimes new features. E.g., if you bought v1.0 you were entitled to update your copy of Voyager with 1.01, 1.02, 1.1, 1.5 and 1.6. Going along the same line, if you purchase a license for v3.0 it will give you access to all subsequent v3.x releases for free.
Upgrades on the other hand must be purchased. They are major new versions, symbolized by the change of the first digit in the version number, and contains a range of new features. E.g. if you have bought any of the v1.x or v2.x releases you need to purchase an upgrade to v3.0.
single user license
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$19.95
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5 user license
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$80.00
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10 user license
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$140.00
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25 user license
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$300.00
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All prices are in USD.
Purchase information can be found on here.