runtime: clean up gctrace format

runtime: clean up gctrace format

Go 1.6 simplified the GC phases. The "synchronize Ps" phase no longer
exists and "root scan" and "mark" phases have been combined.

Update the gctrace line implementation and documentation to remove the
unused phases.

Fixes #13536.

Change-Id: I4fc37a3ce1ae3a99d48c0be2df64cbda3e05dee6
Reviewed-on: https://go-review.googlesource.com/18458
Run-TryBot: Austin Clements <austin@google.com>
Reviewed-by: Russ Cox <rsc@golang.org>