[SPARK-3923] Increase Akka heartbeat pause above heartbeat interval

Something about the 2.3.4 upgrade seems to have made the issue manifest where all the services disconnect from each other after exactly 1000 seconds (which is the heartbeat interval). [This post](https://groups.google.com/forum/#!topic/akka-user/X3xzpTCbEFs) suggests that heartbeat pause should be greater than heartbeat interval, and increasing the pause from 600s to 6000s seems to have rectified the issue. My current cluster has now exceeded 1400s of uptime without failure!

I do not know why this fixed it, because the threshold we have set for the failure detector is the exponent of a timeout, and 300 is extremely large. Perhaps the default failure detector changed in 2.3.4 and now ignores threshold.

Author: Aaron Davidson <aaron@databricks.com>

Closes #2784 from aarondav/fix-timeout and squashes the following commits:

bd1151a [Aaron Davidson] Increase pause, don't decrease interval
9cb0372 [Aaron Davidson] [SPARK-3923] Decrease Akka heartbeat interval below heartbeat pause