Tweak kasp system test

Tweak kasp system test

A few kasp system test tweaks to improve test failure debugging and
deal with tests related to migration to dnssec-policy.

1. When clearing a key, set lifetime to "none".  If "none", skip
   expect no lifetime set in the state file.  Legacy keys that
   are migrated but don't match the dnssec-policy will not have a
   lifetime.

2. The kasp system test prints which key id and file it is checking.
   Log explicitly if we are checking the id or a file.

3. Add quotes around "ID" when setting the key id, for consistency.

4. Fix a typo (non -> none).

5. Print which key ids are found, this way it is easier to see what
   KEY[1-4] failed to match one of the key files.

(cherry picked from commit a224754d59c348ea9b1680179a7b7a9f7e4c4ad0)