MNT: Move bit parsing warning to parsing location

[greglucas]

It can be at the closest point to the end of the parsing rather than within an intermediate generator. Add the CCSDS Header information for more helpful debugging if it is a known ccsds byte stream.

Checklist

• Changes are fully implemented without dangling issues or TODO items
• [n/a] Deprecated/superseded code is removed or marked with deprecation warning
• [n/a] Current dependencies have been properly specified and old dependencies removed
• New code/functionality has accompanying tests and any old tests have been updated to match any new assumptions
• [n/a] The changelog.md has been updated

[medley56]

Good suggestion. Merging.