Ability to record data from MAVLINK stream along with sonar data

It would be very convenient to have an option to record selected data from the vehicle's MAVLINK UDP stream (e.g. from BlueBoat) like GPS position, GPS time, roll, pitch, heading etc. together with each sonar profile. This would help to analyze the profile data in relation to position, i.e making maps of bottom or sub-bottom features, correcting for angular deviation caused by waves or determining the sonar's boresight angles.

Start by locating the existing sonar-profile recording path and the entry point for receiving MAVLINK UDP data. Determine which vehicle fields can be selected and how each value will be synchronized with a profile; done means recorded profiles include the selected position, time, attitude, and heading data for later analysis.

Written by the indexing model from the issue text.