enable zfs_dbgmsg() by default, without dprintf()

zfs_dbgmsg() should record a message by default.  As a general
principal, these messages shouldn't be too verbose.  Furthermore, the
amount of memory used is limited to 4MB (by default).

dprintf() should only record a message if this is a debug build, and
ZFS_DEBUG_DPRINTF is set in zfs_flags.  This flag is not set by default
(even on debug builds).  These messages are extremely verbose, and
sometimes nontrivial to compute.

SET_ERROR() should only record a message if ZFS_DEBUG_SET_ERROR is set
in zfs_flags.  This flag is not set by default (even on debug builds).

This brings our behavior in line with illumos.  Note that the message
format is unchanged (including file, line, and function, even though
these are not recorded on illumos).

Reviewed-by: Giuseppe Di Natale <[email protected]>
Reviewed-by: Brian Behlendorf <[email protected]>
Reviewed-by: Prakash Surya <[email protected]>
Signed-off-by: Matthew Ahrens <[email protected]>
Closes #7314 

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