docs(minerr): fill in error message descriptions

Errors I've documented so far:
- `$injector:cdep`
- `$injector:itkn`
- `$injector:modulerr`
- `$injector:nomod`
- `$injector:pget`
- `$injector:unpr`
- `ng:areq`
- `ng:cpi`
- `ng:cpws`
- `ngModel:noass`

Closes #3430