Cleanup ZFS debug infrastructure

Historically the internal zfs debug infrastructure has been
scattered throughout the code.  Since we expect to start making
more use of this code this patch performs some cleanup.

* Consolidate the zfs debug infrastructure in the zfs_debug.[ch]
  files.  This includes moving the zfs_flags and zfs_recover
  variables, plus moving the zfs_panic_recover() function.

* Remove the existing unused functionality in zfs_debug.c and
  replace it with code which correctly utilized the spl logging
  infrastructure.

* Remove the __dprintf() function from zfs_ioctl.c.  This is
  dead code, the dprintf() functionality in the kernel relies
  on the spl log support.

* Remove dprintf() from hdr_recl().  This wasn't particularly
  useful and was missing the required format specifier anyway.

* Subsequent patches should unify the dprintf() and zfs_dbgmsg()
  functions.

Signed-off-by: Brian Behlendorf <behlendorf1@llnl.gov>