errors: fix and improve error types

1) Add missing lazy assert call
2) Remove obsolete error type
3) Name undocumented error type more appropriate
4) Consolidate error type style (rely on util.format
   instead of using a function)
5) Uppercase the first letter from error messages
6) Improve some internal error parameters

PR-URL: https://github.com/nodejs/node/pull/13857
Reviewed-By: Refael Ackermann <refack@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>
Reviewed-By: Colin Ihrig <cjihrig@gmail.com>
Reviewed-By: Michael Dawson <michael_dawson@ca.ibm.com>

lib/_http_server.js

@@ -225,10 +225,8 @@ function writeHead(statusCode, reason, obj) {
     headers = obj;
   }
 
-  if (common._checkInvalidHeaderChar(this.statusMessage)) {
-    throw new errors.Error('ERR_HTTP_INVALID_CHAR',
-                           'Invalid character in statusMessage.');
-  }
+  if (common._checkInvalidHeaderChar(this.statusMessage))
+    throw new errors.Error('ERR_INVALID_CHAR', 'statusMessage');
 
   var statusLine = 'HTTP/1.1 ' + statusCode + ' ' + this.statusMessage + CRLF;