ath: Convert ath_print to ath_dbg

Remove ath/debug.h and the includes of these files.
Coalesce long formats.
Correct a few misspellings and missing "\n"s from these logging messages.
Remove unnecessary trailing space before a newline.
Remove ARRAY_SIZE casts, use printf type %zu

Signed-off-by: Joe Perches <joe@perches.com>
Signed-off-by: John W. Linville <linville@tuxdriver.com>