Upgrade mesos to 0.17.0

Moves to using non-deprecated methods and calls the new mesos-log --initialize command before starting up the scheduler.

Testing Done:
./build-support/jenkins/build.sh
vagrant destroy -f
./src/test/sh/org/apache/aurora/e2e/test_end_to_end.sh
vagrant ssh devtools -c 'cd aurora; ./pants src/test/python/apache/aurora/executor:executor-large'

Bugs closed: AURORA-240

Reviewed at https://reviews.apache.org/r/18580/