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Expand use of numpy.recarray for tabular data

Duncan Macleod requested to merge github/fork/duncanmmacleod/pycbc-live into master

This PR expands support for using the numpy.recarray to store tabular data normally stored in LIGO_LW format (using glue.ligolw). Changes include

  • new GWRecArray object with .read() method tied to all LIGO_LW table formats
  • new parser for pycbc_live files

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