Replace the "?" with "" (empty string) in your example and set the connectSeparatedPoints option.
Here's a fiddle demonstrating what you want: http://jsfiddle.net/eM2Mg/2726/
g = new Dygraph(document.getElementById("graph"),
"Date,Series1,Series2\n" +
"2007/01/01,94,\n" +
"2007/01/02,,92\n" +
"2007/01/03,113,\n" +
"2007/01/04,,112\n" +
"2007/01/05,115,\n" +
"2007/01/06,,109\n",
{
connectSeparatedPoints: true
});