Looking at the note on the graph, did you use the same volume of acid each time? If so, you've used different QUANTITIES of acid as the concentrations are different and hence the greater volume of gas produced at completion.
For the rate of reaction, you need to look at the gradients/slope of the lines. If you then make a graph of the gradient on the y axis and the concentration of acid on the x, then you will be able to see how concentration affects rate in this particular reaction.
It isn't true in general (always be wary about using vague terms in science!) that doubling a reactant concentration doubles the rate of reaction. For example, there are many reactions where altering the concentration of a reactant has no effect whatsoever on the rate! It is all to do with what intermediate states the reactants pass between on their journey to becoming products. Indeed, studies of rates can greatly help chemists work these mechanisms out.
I hope this helps!