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feat: parse unknown talker sentence types as TalkerSentence (#183)

parse() already splits an unknown talker sentence into talker, type and
data and verifies its checksum, but then raises SentenceTypeError (see
the "TODO instantiate base type instead of fail" in NMEASentence.parse).
Return a plain TalkerSentence instead, the same way unknown proprietary
sentences already fall back to ProprietarySentence, so callers keep the
raw data of sentences such as GPPWR (#56) and can render them back.

This changes behavior for callers that catch SentenceTypeError to skip
unknown sentences: they now receive a TalkerSentence and can check
type(msg) is pynmea2.TalkerSentence instead. SentenceTypeError remains
exported for compatibility.

Signed-off-by: Wolfgang Haupt <haupt.wolfgang@gmail.com>

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