watcher: a removed nameserver is an NS Change, not an NS Failure (closes #262)

A nameserver that left a domain's delegation was reported twice: as the
domain's NS Change, and by the check of the domain's own records as an
error-level NS Failure saying it disappeared. The check of a name's
records now sends one NS Change at warning level, starting Hostname: or
Domain:, listing the nameservers it was asked at before and not now.
For a domain it leaves out those of its saved delegation, which the
domain's own NS Change lists, so a domain's new delegation is now
notified and saved only after, and only together with, its records.
Nothing is sent for a nameserver that joins.

A nameserver that was failing before it left is now listed too; the
NS Failure skipped it.

Model: opus-5-5

README.md

@@ -78,8 +78,9 @@ notification endpoint set, changes show only on the dashboard; see
   answer NXDOMAIN, that it does not exist, has no nameservers and is shown as
   not existing (see Web Dashboard and HTTP API). A domain that exists but has no
   delegation of its own, such as `octocat.github.io`, has no nameservers either.
-  When the parent zone's servers do not answer, the check fails and the set from
-  the previous check is kept.
+  When the parent zone's servers do not answer, or the lookup of the domain's
+  own records (below) fails, the check fails and the set from the previous check
+  is kept.
 - Any change triggers a notification:
     - NS added to or removed from that set. A domain that had nameservers on the
       previous check and no longer exists gets one with all of them removed.
@@ -99,11 +100,16 @@ notification endpoint set, changes show only on the dashboard; see
   records, stored per nameserver. Their changes are notified as a hostname's
   are, as a record change, NS query failure, NS recovery, inconsistency or CNAME
   address change, in a message that starts `Domain:` where a hostname's starts
-  `Hostname:`. A domain listed in `DNSWATCHER_SKIP_RECORD_NOTIFICATIONS` gets no
-  record change or inconsistency notification. A domain with no delegation of
-  its own has these records asked at the servers of the zone it is in, as a
-  hostname has. A domain that does not exist has none: they are not asked for,
-  and those saved by an earlier check are removed without a notification.
+  `Hostname:`. A nameserver removed from the domain's delegation gets only the
+  NS change notification above. A domain listed in
+  `DNSWATCHER_SKIP_RECORD_NOTIFICATIONS` gets no record change or inconsistency
+  notification. A domain with no delegation of its own has these records asked
+  at the servers of the zone it is in, as a hostname has. A nameserver the
+  domain's records were asked at on the previous check but not on this one gets
+  a hostname's NS change notification (see below), unless it was in the domain's
+  delegation on the previous check, as when that delegation is withdrawn. A
+  domain that does not exist has none: they are not asked for, and those saved
+  by an earlier check are removed without a notification.
 
 ### DNS Hostname Monitoring (Subdomains)
 
@@ -156,6 +162,10 @@ notification endpoint set, changes show only on the dashboard; see
     - **NS recovery**: A previously-unreachable nameserver starts responding
       again. Its records are not compared with those from before it failed, so a
       change made while it was failing is not reported as a record change.
+    - **NS change**: A nameserver of the zone the hostname is in on the previous
+      check is not one now, whether or not it answered. One notification lists
+      every such nameserver on a `Removed:` line. Nothing is sent for a
+      nameserver that joins the zone.
     - **Inconsistency detected**: Two nameservers return different record sets
       for the same hostname and did not already differ on the previous check.
       Every pair of nameservers is compared. The alert is sent once for each
@@ -237,7 +247,9 @@ includes:
 
 - **DNS record changes**: Which hostname or domain, which nameserver, what
   record type, old values, new values.
-- **DNS NS changes**: Which domain, which nameservers were added/removed.
+- **DNS NS changes**: Which domain, which nameservers were added to or removed
+  from its delegation. For a hostname, or a domain with no delegation of its
+  own, which nameservers left the zone it is in.
 - **NS address changes**: Which domain, which nameserver, its old and new
   addresses.
 - **CNAME address changes**: Which hostname or domain, the old and new addresses