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Rework of NDS2 interface (gwpy.io.nds) (without segfault)

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.

This is a duplicate of #456 just without the segmentation fault.

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