ZTS: Improve redundancy test scripts

- Add additional logging to provide more information about why the
  test failed.  This including logging more of the individual commands
  and the contents and differences of the record files on failure.

- Updated get_vdevs() to properly exclude all top-level vdevs
  including raidz3 and draid[1-3].

- Replaced gnudd with dd.  This is the only remaining place in the
  test suite gnudd is used and it shouldn't be needed.

- The refill_test_env function expects the pool as the first argument
  but never sets the pool variable.

- Only fill the test pools to 50% of capacity instead of 75% to help
  speed up the tests.

- Fix replace_missing_devs() calculation, MINDEVSIZE should be
  MINVDEVSIZE.

- Fix damage_devs() so it overwrites almost all of the device so
  we're guaranteed to damage filesystem blocks.

- redundancy_stripe.ksh should not use log_mustnot to check if the
  pool is healthy since the return value may be misinterpreted.
  Just perform a normal conditional check and log the failure.

Reviewed-by: George Melikov <[email protected]>
Signed-off-by: Brian Behlendorf <[email protected]>
Closes #11906

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