Illumos #4101 finer-grained control of metaslab_debug

Today the metaslab_debug logic performs two tasks:

- load all metaslabs on import/open
- don't unload metaslabs at the end of spa_sync

This change provides knobs for each of these independently.

References:
  https://illumos.org/issues/4101
  https://github.com/illumos/illumos-gate/commit/0713e23

Notes:

1) This is a small piece of the metaslab improvement patch from
Illumos. It was worth bringing over before the rest, since it's
low risk and it can be useful on fragmented pools (e.g. Lustre
MDTs). metaslab_debug_unload would give the performance benefit
of the old metaslab_debug option without causing unwanted delay
during pool import.

Ported-by: Ned Bass <bass6@llnl.gov>
Signed-off-by: Brian Behlendorf <behlendorf1@llnl.gov>
Closes #2227