Resolve issue #7 wait: error running audit command exit status 1.

This is caused by a command in the audit pipeline (for example
ps -ef | grep kube-apiserver) failing. The causes of this failure
in my testing is usually a missing config file.

Extensive refactor and correction in verification code to check for
config files and binaries.

Replace joncalhoun/pipes with implementation using exec.Cmds so errors
are visible and can be handled when audit pipeline commands fail.

Change some audit commands
from: ps -ef | grep <cmd> | grep -v
to:   ps -C <something> -o comm,args --no-headers

which is simpler to work with.