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[ADAM-1330] Move to Spark 2.1.0.
ok to push this off until 0.22.0? We should do a deep dive into the transitive dependency changes between 1.x and 2.1.x and make sure we're not introducing any conflicts. E.g., I seem to recall there is/was a Kryo inconsistency recently (#955).
@heuermh I'm OK with pushing off to 0.22.0 if you'd like. That being said, this change is just to the Spark 2 build, not to the default (Spark 1) build, which remains pegged to 1.6.2. Not sure if that changes your opinion.