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Implement schema backwards compatibility (#272)

* Add unit test for older schema

* Minor refactor of debug code for _get_yaml_content

* Add new wcs unit test for backwards compatible schema conversion

* Fix handling of obsgeovel and obsgeoloc in tag v1.0.0

* Add unit test for GCRS frame backwards compatibility...

This was necessary since the obsgeovel and obsgeoloc fields were
affected by the schema version change but are not used in Galactocentric
frames, so were not previously being tested.

* Add unit test for using tags that are not defined...

ASDF should not fail to read a file, even if the file makes reference to
schema tags that are not defined. In these cases, ASDF should simply
provide a raw Python object that represents the deserialized object.

* Add unit test for tag implementation newer than schema read...

This is an important case that is was not being handled properly.
If an exact version match was not found for a schema version,
the "best match" was used. However, the tag implementation for this "best
match" might not be compatible with the given schema version, which would
result in an unhandled error.

* Modify extension type hierarchy to diffentiate custom classes...

This update allows extension types to be differentiated between those
that ASDF provides as part of the library, and those that are
user-defined. The ASDF types are automatically added to the list of
built-in extensions used by the library, whereas user-defined types are
not.

* Extension classes now have `supported_version` field...

Custom extension classes can now declare explicit support for various
schema versions using the `supported_version` field. If this field is
provided by an extension class, it will be used to determine whether that
class can be used to convert a particular version of a schema to/from a
custom class. If the field is not provided, or if a particular schema
version is not listed, the extension class will simply return raw Python
data structures representing the schema.

* Add unit test for supported_versions for CustomType

4126 of 4375 relevant lines covered (94.31%)

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Jobs
ID Job ID Ran Files Coverage
4 956.4 (SETUP_CMD='test --coverage --open-files --remote-data') 0
94.31
 Travis Job 956.4
Source Files on build 956
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