Rename "invalid token" error to "jwt malformed" #738
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Description
This brings the message for a token with (for example) a trailing space into line with the listed potential error messages in the README.
"invalid token" is confusing and not a listed possible error message -- is it invalid because it was corrupt, unauthorized, expired, etc.?
This also adds a test for the existing case where "jwt malformed" is returned, which was otherwise untested.
Checklist
master