I agree with the many suggestions of preamp first, not on philosophical grounds related to the importance of preamps generally, but because the AVR appears to be the weak link in this case.
I took a look at the possibility of impedance incompatibilities arising with the various replacements that have been suggested, given the 33K input impedance of your power amp and the 75 ohm output impedance of the DAC, and I don't see any likely issues, even with the passive Lightspeed.
04-24-15: Toddrhodes
There is a Bel Canto Pre1 for sale locally that I am very intrigued by; unfortunately I do need a remote based on where the preamp will sit, and this seems to be a very good Pre that allows for both sub hookup and remote control.
I took a look at some rear panel photos of the Pre1, and I don't see that it provides a suitable means of connecting to your sub. Even if that's the case, though, your subs provide speaker level inputs which you could use, connecting them to the amp outputs. That shouldn't be a problem given that it does not appear that the B&K amp's outputs are bridged or balanced. But when you eventually upgrade the amp, you'll want to keep in mind that with that connection arrangement you should avoid choosing a new amp having outputs which they are bridged or balanced. The negative output terminals of bridged or balanced amps have signals on them, rather than being grounded, and connection to those outputs of the high level inputs of a powered sub could short those signals to ground, depending on the design of the particular sub.
Keep in mind, also, that you don't need heavy gauge speaker wire to connect the power amp outputs to the subs, since essentially negligible current will be drawn by the input impedance of the amps in the subs. Anything in the range of 18 to 24 gauge, or even higher, should do fine, assuming that the main speakers are connected to the amp separately, via heavier gauge cables.
Finally, you might consider adding another acoustic panel, in this case to the wall behind the listening position. The three foot distance to that wall will result, to some degree, in a suckout of frequencies in the vicinity of 282/3 = 94 Hz. Perhaps reflections from that wall are also contributing to the slight lack of depth which you mentioned.
Good luck. Regards,
-- Al