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Removed custom sosfiltfilt in favour of scipy's version

Duncan Macleod requested to merge github/fork/duncanmmacleod/sosfiltfilt into develop

This PR removes the gwpy.signal.filter module, which contained only a home-baked sosfiltfilt method. This is now provided by scipy.signal.sosfiltfilt (scipy >= 0.18.0) which is better maintained.

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