Cleanup.
Added the rough draft of sensor matching.
Hooked the helpers into running_task mock module.
Fixed things.

* The grapevine was returning None immediately after startup.
* The movement pipeline was still trying to listen to stabilization.
* The helpers didn't import numpy.
Merge branch 'dev-integration' of github.com:PalouseRobosub/robosub into dev-integration

Conflicts:
	src/decision/depth_hold/depth_hold.py
	src/movement/fuzzification/fuzzifier.py
	src/movement/settings.py
	src/sensor/sanitizer/sanitizer.py