Add load_nvlist() error handling

Add the missing error handling to load_nvlist(). There's no good
reason this needs to be fatal. All callers of load_nvlist() do
correctly handle an error condition and it is preferable that an
error be returned. This will allow 'zpool import -FX' to safely
attempt to rollback through previous txgs looking for a good one.

Signed-off-by: Brian Behlendorf <behlendorf1@llnl.gov>
Closes #1120