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Simplified gwpy.utils.lal module for lal>=6.14.0

Duncan Macleod requested to merge github/fork/duncanmmacleod/lal-utils-simple into develop

This PR removes support for lal < 6.14.0 by simplifying the gwpy.utils.lal module. 6.14.0 was released in 2015, so is probably new enough.

Additionally this PR provides a few new methods to simplify mapping python types to LAL type strings (e.g. float -> 'REAL8').

Finally, I added tests of the functions in gwpy.utils.lal.

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