Remove use of where(), if DEBUG etc.

Remove use of where(), if DEBUG etc.

The where() debugging function causes run-time branches in
release-mode builds, and replaces functionality for which one should
use a debugger.

Other such preprocessing clutter should also go away. Since we don't
check whether any of it compiles or produces useful data, we may as
well delete it.

This coincidentally simplifies the call sigatures of some
functionality, too.

Retained some useful essentialdynamics debug code, which is now always
compiled, and written from setup code only at debug level 2.

Refs #2423
Fixes #2122

Change-Id: I2c60c162734f4c2ec1d56153853a36d28e6a66ff