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Rework of NDS2 interface (gwpy.io.nds)

Duncan Macleod requested to merge github/fork/duncanmmacleod/io.nds2-rework into master

This PR attempts to simplify the nds2 API by centralising more of the query methods in the gwpy.io.nds2 module, hopefully reducing the complexity of methods for the TimeSeries and Channel{List}.

additionally, the TimeSeries.fetch method has been separated into two parts with a new gwpy.timeseries.io.nds2 module providing the low-level iterate wrapper.

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