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Improvements to HDF5-based data I/O

Duncan Macleod requested to merge github/fork/duncanmmacleod/data-io-hdf5 into master

This PR improves the HDF5-based I/O of Array types, mainly by moving the worker code into the new data.io module similar to how these things are done for higher-level types.

The subclass types have been modified to import their HDF5 I/O method from this new location, and DeprecationWarnings have been added to the old Array.to_hdf5 and Array.from_hdf5 methods.

Finally, the HDF5 I/O tests for the TimeSeries have been moved to the Array test suite for inheritance by all Array subclasses.

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