SmartOS Esky: Fix minion SMF manifest

Some users reported an errror that SMF couldn't find auditconfig despite
the fact that the PATH is set correctly. Invoking with the full path
seems to fix the issue.
Merge pull request #15596 from nshalman/smartos-esky-smf-2014.1

SmartOS Esky: Fix minion SMF manifest 2014.1 backport