Migrate to Parcels v4

[j-atkins]

WIP

Checklist/current status:

• Update instrument kernels
• Update fieldset ingestion workflows
• Update to Parquet output
• implement Refactor underway instruments #231
• Check expedition / workflow
  • including underway instruments
  • Argo float bug [in kernel(s)?], immediately goes out of bounds after first timestep... I've added a few extras relative to the Argo implementation in Parcels (e.g. handling grounding, OutOfBounds errors, sampling kernels are extracted from the vertical movement kernel), so it's possible something there is interfering... could be something to do with depth +ve/-ve conventions and mismatch somewhere...
• Update tests
• Add new tests for v4 specific logic(?)

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• Update docs / tutorials (e.g. notebooks using .zarr output) [new PR?]
• Instrument output more intuitive dim names [new PR; i.e. Rename Zarr coordinates #29]
• Argo float output with/without trajectory data [new PR, i.e. Argo Floats: with/without trajectory output #352]

[j-atkins]

Hi @erikvansebille and @VeckoTheGecko, here's the latest draft of VirtualShip migration to Parcels v4 (still a WIP though). No need to review properly at this point, it's for your reference in case you are curious whilst I'm away over the next couple of weeks!