OpenZFS 7638 - Refactor spa_load_impl into several functions

Authored by: Pavel Zakharov <pavel.zakharov@delphix.com>
Reviewed by: Paul Dagnelie <pcd@delphix.com>
Reviewed by: George Wilson <george.wilson@delphix.com>
Reviewed by: Matthew Ahrens <mahrens@delphix.com>
Reviewed by: Andrew Stormont <andyjstormont@gmail.com>
Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Reviewed-by: Tim Chase <tim@chase2k.com>
Approved by: Dan McDonald <danmcd@joyent.com>
Ported-by: Giuseppe Di Natale <dinatale2@llnl.gov>

OpenZFS-issue: https://www.illumos.org/issues/7638
OpenZFS-commit: https://github.com/openzfs/openzfs/commit/1fd3785ff6
Closes #7437