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Clarify worker/supervisor heartbeat docs and deprecate unused nimbus.supervisor.timeout.secs #3239

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Run time

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Job	Run time
build	4m 44s
test (25, Core, false)	2m 30s
test (25, Client, false)	3m 52s
test (25, Integration-Test, false)	2m 48s
test (25, Server, false)	19m 9s
test (25, External, false)	7m 18s
	40m 21s