Added errors argument to TarFile class that allows the user to

Added errors argument to TarFile class that allows the user to
specify an error handling scheme for character conversion. Additional
scheme "utf-8" in read mode. Unicode input filenames are now
supported by design. The values of the pax_headers dictionary are now
limited to unicode objects.

Fixed: The prefix field is no longer used in PAX_FORMAT (in
conformance with POSIX).
Fixed: In read mode use a possible pax header size field.
Fixed: Strip trailing slashes from pax header name values.
Fixed: Give values in user-specified pax_headers precedence when
writing.

Added unicode tests. Added pax/regtype4 member to testtar.tar all
possible number fields in a pax header.

Added two chapters to the documentation about the different formats
tarfile.py supports and how unicode issues are handled.