seccomp: remove duplicated failure logging

This consolidates the seccomp filter error logging path and adds more
details to the audit log.

Signed-off-by: Will Drewry <wad@chromium.org>
Signed-off-by: Kees Cook <keescook@chromium.org>
Acked-by: Eric Paris <eparis@redhat.com>

v18: make compat= permanent in the record
v15: added a return code to the audit_seccomp path by wad@chromium.org
     (suggested by eparis@redhat.com)
v*: original by keescook@chromium.org

Change-Id: I4b7d6acb2bf2d6ee38d906669c569a691846e41e