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Revert deprecation of frameCPP API

This PR undoes #370 and a small number of related commits by reinstating frameCPP as the primary GWF API for TimeSeries.read/write and friends.

frameCPP is significantly faster than lalframe when the channel type (adc, proc, or sim) is known and the frame file name can be trusted to present the frame epochs (which isn't true in general).

This PR also improves the unit tests for GWF I/O, and documentation.

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