pySim-shell: Authenticate (3g) support

This adds support for AUTHENTICATE to the USIM and ISIM application,
based on the newly-introduced 'construct' encoder/decoder support.

Change-Id: Id5697463e29c3dceff98bcf80f5400f7f2bcaa6c

docs/shell.rst

@@ -300,6 +300,17 @@ to the SIM card.
 This allows for easy interactive modification of file contents.
 
 
+USIM commands
+-------------
+
+authenticate
+~~~~~~~~~~~~
+.. argparse::
+   :module: pySim.ts_31_102
+   :func: ADF_USIM.AddlShellCommands.authenticate_parser
+
+
+
 cmd2 settable parameters
 ------------------------