Increase number of sources of velocity data supplied to Kalman Filter

[connor-wool]

Currently, our Kalman Filter is using only 1 or 2 (needs citation) sources of data for its velocity measurement. By increasing this, we can make our Kalman Filter more accurate, and increase the time during which our resolution is accurate to within our stated goal (1 m).

[connor-wool]

This is being done with pull request #402, which adds in acceleration data from the control system. It's not an ideal way of doing things since it could create a self-reinforcing error without outside data, but at the very least it provides some data about the intentions of the sub when no other data is available.