Rewrite the NAL depacketizer to run in O(1) time by parsing the proprietary header rather than the H264 bytestream
Always request an IDR frame if packet loss occurs because we don't know if we missed a full frame (partial revert of last commit). Remove the last bit of active NAL parsing.
Disable Nagle on the control socket. Use a single resync thread rather than spawning a new thread each time.